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Matching cost processing method and circuit and cost aggregation processing method

A technology of matching costs and processing methods, applied in the field of artificial intelligence, can solve problems such as complex system configuration, lower performance requirements, and high cost, and achieve the effects of efficient data reuse, improved flexibility, and reduced data storage

Active Publication Date: 2022-07-29
绍兴埃瓦科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the use of specialized processors (such as multiple GPUs, such as multi-core processors, etc.) to achieve parallel accelerated computing can partially alleviate the pressure of these repetitive data and its processing that require a large amount of computing power, but specialized processors are not only costly, but also The complex structure of the system makes the deployment and application of stereo matching algorithms on various smart devices more restricted. For example, the equipment for deploying stereo matching requires good hardware performance, such as reducing the response of stereo matching devices for deploying stereo matching. Performance requirements, etc., are not conducive to the deployment and application of stereo matching schemes in various scenarios

Method used

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  • Matching cost processing method and circuit and cost aggregation processing method
  • Matching cost processing method and circuit and cost aggregation processing method
  • Matching cost processing method and circuit and cost aggregation processing method

Examples

Experimental program
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Effect test

example 2

[0054] Example 2, the matching cost algorithm of gray-level cross-correlation, can input the vector of the reference pixel and the vector of the corresponding target pixel to the initial cost calculation circuit at one time, and the core of the similarity calculation circuit can be the multiply-add circuit.

example 3

[0055] Example 3, normalized grayscale cross-correlation algorithm, one vector can be subjected to dot product multiplication and accumulation operation, and each vector element of the other channel is first squared and then accumulated. After the accumulation of each window vector is completed, multiplication and square root operation are performed , the core of the similarity calculation circuit may include an accumulation circuit, a multiplier, a square root operation circuit, and the like.

[0056] The above-mentioned similarity calculation circuit is a schematic illustration, and the specific circuit form can be selected according to the similarity calculation algorithm, which is not limited here.

[0057] In implementation, an initial cost parallel computing module may be set on the deployment application side (that is, the application side where the matching cost processing is deployed), wherein the initial cost parallel computing module includes a first register group, ...

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Abstract

Embodiments of this specification provide a matching cost processing method, circuit, and cost aggregation processing method, which are applied to the technical field of 3D visual image stereo matching, wherein the matching cost processing method includes setting an initial cost parallel computing module, wherein the initial cost parallel computing module includes a A register set, a second register set and an initial cost calculation circuit. Data multiplexing is accomplished through the first register set and the second register set, and efficient cost parallel calculation is realized through the initial cost calculation circuit, and each initial cost parallel calculation circuit and its corresponding register set row can be regarded as a minimum parallel depth The computing unit accelerates the kernel, which is convenient for flexible configuration and combination, and then the original image can be divided into blocks and under the conditions of different parallax search ranges, the overall matching cost calculation processing efficiency can be improved.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a matching cost processing method for stereo matching, a circuit and a cost aggregation processing method. Background technique [0002] In the stereo matching processing of images, the matching cost calculation is to match each pixel in the image pair after transformation (such as center coding transformation), for example, for each pixel in the target image, it is necessary to match the reference image within its parallax range. The pixels in the matching cost are calculated, such as figure 1 signal. [0003] In the current binocular stereo matching scheme, such as figure 2 As shown in the figure, when the matching cost is calculated, a processor with good performance is usually used to calculate the cost. For example, the first GPU (Graphics Processing Unit, graphics processor) is used to process the reference image as the left image (also called the left ey...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T1/20G06T1/60G06V10/94G06V10/75
CPCG06T1/20G06T1/60G06F18/22
Inventor 王赟张官兴郭蔚黄康莹张铁亮
Owner 绍兴埃瓦科技有限公司