Design and implementation of on-body real-time depth map generation system

摘要

This paper describes the design and implementation of real-time depth map generation system with four key issues: 1) recursive (normalized) correlation technique; 2) cache optimization; 3) online consistency checking method; and 4) applying the MMX/SSE/sup R/ multimedia instructions set. The system is implemented on a standard PC/AT hardware with simple image capture board. Implementation details and system evaluations are also denoted. Furthermore, experiments with robots in real world are shown.