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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2305.11566 |
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| _version_ | 1866908400644784128 |
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| author | Chang, Qiong Li, Xiang Xu, Xin Liu, Xin Li, Yun Jun, Miyazaki |
| author_facet | Chang, Qiong Li, Xiang Xu, Xin Liu, Xin Li, Yun Jun, Miyazaki |
| contents | We present a lightweight system for stereo matching through embedded GPUs. It breaks the trade-off between accuracy and processing speed in stereo matching, enabling our embedded system to further improve the matching accuracy while ensuring real-time processing. The main idea of our method is to construct a tiny neural network based on variational auto-encoder (VAE) to upsample and refinement a small size of coarse disparity map, which is first generated by a traditional matching method. The proposed hybrid structure cannot only bring the advantage of traditional methods in terms of computational complexity, but also ensure the matching accuracy under the impact of neural network. Extensive experiments on the KITTI 2015 benchmark demonstrate that our tiny system exhibits high robustness in improving the accuracy of the coarse disparity maps generated by different algorithms, while also running in real-time on embedded GPUs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2305_11566 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | StereoVAE: A lightweight stereo-matching system using embedded GPUs Chang, Qiong Li, Xiang Xu, Xin Liu, Xin Li, Yun Jun, Miyazaki Computer Vision and Pattern Recognition Artificial Intelligence Multimedia Robotics We present a lightweight system for stereo matching through embedded GPUs. It breaks the trade-off between accuracy and processing speed in stereo matching, enabling our embedded system to further improve the matching accuracy while ensuring real-time processing. The main idea of our method is to construct a tiny neural network based on variational auto-encoder (VAE) to upsample and refinement a small size of coarse disparity map, which is first generated by a traditional matching method. The proposed hybrid structure cannot only bring the advantage of traditional methods in terms of computational complexity, but also ensure the matching accuracy under the impact of neural network. Extensive experiments on the KITTI 2015 benchmark demonstrate that our tiny system exhibits high robustness in improving the accuracy of the coarse disparity maps generated by different algorithms, while also running in real-time on embedded GPUs. |
| title | StereoVAE: A lightweight stereo-matching system using embedded GPUs |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence Multimedia Robotics |
| url | https://arxiv.org/abs/2305.11566 |