Real-time disparity map extraction in a dual head stereo vision system

This paper describes the design of an algorithm for constructing dense disparity maps us- ing the image streams from two CMOS camera sen- sors. The proposed algorithm extracts information from the images based on correlation and uses the epipolar constraint. For real-time performance, the processing structure of the algorithm was built tar- geting implementation on programmable logic, where pipelined structures and condensed logic blocks were used.