Parallel Processor for 3D Recovery from Optical Flow

Table 1

Calculation of the depth in the different stages of the pipeline.

Parameters	Pipeline cycle	Stage 1		Stage 2		Stage 3		Stage 4		Stage 5
𝐴=0.00	1	𝛼	0.50
𝐵=0.00		𝛽	0.00
𝐶=0.00		𝑦^2+1	2.00
𝑈=0.50		𝑥^2+1	2.00
𝑉=0.00		𝑦^∗𝑥	1.00
𝑊=0.00	2			𝛼^2	0.25
𝑥=1.00				𝛽^2	0.00
𝑦=1.00				𝐴^∗(𝑦^2+1)	0.00
𝑢=1.00				𝐵^∗(𝑥^2+1)	0.00
𝑣=0.00				𝐴^∗(𝑥^∗𝑦)	0.00
				𝐵^∗(𝑥^∗𝑦)	0.00
				𝐶^∗𝑥	0.00
				𝐶^∗𝑦	0.00
	3					𝑢𝑟	0.00
						𝑣𝑟	0.00
	4							(𝑢−𝑢𝑟)𝛼	0.50
								(𝑣−𝑣𝑟)𝛽	0.00
	5									𝛼^2+𝛽^2	0.25
										(𝑢−𝑢𝑟)𝛼+(𝑣−𝑣𝑟)𝛽	0.50
										𝑧	0.50