Submitted by Heiko Hirschmueller.

Submission data

Full nameSemi-Global Matching (GPU) (RVC 2020 baseline submission)
DescriptionReimplementation of SGM on the GPU. Census was used as matching cost. Additionally to disparity, a confidence and error is computed for each pixel. This is included in the runtime.

This is the implementation used on-board the Roboception rc_visard stereo sensors.
Parametersp1=18
p2=32
segmentation filter=80 pixels
median filter=5x5
Publication titleStereo processing by semiglobal matching and mutual information
Publication authorsHeiko Hirschmueller
Publication venueTPAMI 2008, Volume 30(2), pp. 328-341
Publication URLhttp://ieeexplore.ieee.org/abstract/document/4359315/
Programming language(s)C++ with CUDA
HardwareGeForce GTX 980
Websitehttp://www.roboception.com
Submission creation date10 Mar, 2018
Last edited10 Mar, 2018

High-res multi-view results



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indooroutdoorbotani.boulde.bridgedoorexhibi.lectur.living.loungeobserv.old co.statueterrac.
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Low-res many-view results



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indooroutdoorlakesidesand boxstorage roomstorage room 2tunnel
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Low-res two-view results



Infoalllakes. 1llakes. 1ssand box 1lsand box 1sstora. room 1lstora. room 1sstora. room 2lstora. room 2sstora. room 2 1lstora. room 2 1sstora. room 2 2lstora. room 2 2sstora. room 3lstora. room 3stunnel 1ltunnel 1stunnel 2ltunnel 2stunnel 3ltunnel 3s
binarytwo views4.070.381.980.840.266.202.376.453.5711.569.2715.556.7810.074.600.220.250.200.230.260.34

SLAM results



allcables 1cables 2cables 3camera shake 1camera shake 2camera shake 3ceiling 1ceiling 2desk 3desk changing 1einstein 1einstein 2einstein darkeinstein flashlighteinstein global light changes 1einstein global light changes 2einstein global light changes 3kidnap 1kidnap darklarge loop 1mannequin 1mannequin 3mannequin 4mannequin 5mannequin 7mannequin face 1mannequin face 2mannequin face 3mannequin headmotion 1planar 2planar 3plant 1plant 2plant 3plant 4plant 5plant darkplant scene 1plant scene 2plant scene 3reflective 1repetitivesfm benchsfm gardensfm house loopsfm lab room 1sfm lab room 2sofa 1sofa 2sofa 3sofa 4sofa dark 1sofa dark 2sofa dark 3sofa shaketable 3table 4table 7vicon light 1vicon light 2
MethodInfo
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