1. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering A Fast Cooperative Stereo Algorithm using 3D Moving Window and Parallel Processing Technique 2003. 1. 9 Young Ki Baik, Hyun Mok Cho°, Kyoung Mu Lee Visual Information Processing Lab. Hong-Ik Univ. Visual Information Processing Lab. School of Radio Science & Communication Engineering. Hong-Ik University

2. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Contents Introduction Introduction  Stereo vision  Cooperative stereo algorithm Fast CS algorithm Fast CS algorithm  Moving window technique  Parallel processing and optimization technique Result Result Conclusion & Future works Conclusion & Future works

3. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Stereo vision Extraction of the depth information from two or more images Extraction of the depth information from two or more images f (x, y, z) M N LR xlxl CrCr ClCl xrxr Focal length Scene object point b P PlPl PrPr

4. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Cooperative Stereo algorithm C.S Algorithm C.S Algorithm  Idea (Marr & Poggio, 1976) UniquenessUniqueness ContinuityContinuity  Embodiment (Zitnick and Kanade, 1999) Local support AreaLocal support Area Inhibition AreaInhibition Area

5. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Cooperative Stereo algorithm Illustration of 3D disparity space Illustration of 3D disparity space

6. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Cooperative Stereo algorithm Summary of algorithm Summary of algorithm  Prepare a 3D array ( memory allocation )  Set initial match values C 0  Iteratively update match values C n  Search maximum match value d

7. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Cooperative Stereo algorithm Initial Value Initial Value

8. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Cooperative Stereo algorithm 3D local support area 3D local support area Inhibition Function Inhibition Function Update Function Update Function

9. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (2D) Moving Window Technique (2D)

10. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (2D) Moving Window Technique (2D)

11. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (2D) Moving Window Technique (2D)

12. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (2D) Moving Window Technique (2D)

13. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (3D) Moving Window Technique (3D)

14. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Moving Window Technique (3D) Moving Window Technique (3D)

15. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Parallel processing Technique SIMD (Single Instruction Multiple Data) SIMD (Single Instruction Multiple Data)  SSE2 (Streaming SIMD Extensions2) 128-bit SIMD integer arithmetic operations.128-bit SIMD integer arithmetic operations. 128-bit SIMD double precision floating point operations128-bit SIMD double precision floating point operations Cache and memory management operationsCache and memory management operations Data type and XMM Register

16. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Parallel processing Technique d direction redundancy d direction redundancy  Multiple calculation 4 operation at the same time4 operation at the same time (floating point operations) d

17. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Environment Environment  System : Pentium IV 1.4Ghz  Cache Memory : 256Kbyte Condition Condition  Image : 384x288 Tsukuba  Disparity searching range : 16  Initial window size : 3x3  Iteration : 1

18. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Fast CS Algorithm Time check Time check

19. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Result Local support window : 3x3x3 Local support window : 3x3x3 Local support window : 5x5x3 Local support window : 5x5x3 Original CS Algorithm Moving Window technique Parallel Processing Support region2.100 (sec)0.392 (sec)0.063 (sec) Inhibition region And update 0.641 (sec)0.133 (sec)0.052 (sec) Sum 2.741 (sec)0.525 (sec)0.115 (sec) Original CS Algorithm Moving Window technique Parallel Processing Support region5.582 (sec)0.395 (sec)0.064 (sec) Inhibition region And update 0.643 (sec)0.134 (sec)0.052 (sec) Sum 6.225 (sec)0.529 (sec)0.116 (sec)

20. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Result Local support window : 7x7x3 Local support window : 7x7x3 Original CS Algorithm Moving Window technique Parallel Processing Support region10.623 (sec)0.395 (sec)0.064 (sec) Inhibition region And update 0.643 (sec)0.134 (sec)0.052 (sec) Sum 11.266 (sec)0.529 (sec)0.116 (sec)

21. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Result Time comparison Time comparison

22. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Result Tsukuba ImageTrue disparity map Initial disparity map 100 iteration result

23. HONGIK UNIVERSITY School of Radio Science & Communication Engineering Visual Information Processing Lab Hong-Ik University School of Radio Science & Communication Engineering Conclusion & Future works Conclusion Conclusion  Fast Cooperative Stereo Algorithm 3D Moving Window Technique3D Moving Window Technique Parallel Processing TechniqueParallel Processing Technique Future works Future works  Removing redundancy for iteration  Calculating Optimization  Usage of SIMD technique  Application to other stereo algorithm