Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware

<table>Top-down view of two identical parallel cameras with focal length <svg height="16.6625" id="M47" style="vertical-align:-3.56265pt" version="1.1" viewbox="0 0 11.0375 16.6625" width="11.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> at distance <svg height="12.4375" id="M48" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.1000004 12.4375" width="8.1000004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M452 333q0 -82 -46 -164t-116 -128q-81 -53 -158 -53q-26 0 -51 13t-37 32q-26 41 -6 134l91 431q7 40 2.5 47t-34.5 7h-33l2 25q36 4 72.5 13t58.5 15.5t28 6.5q10 0 4 -29l-91 -391h2q65 77 130 116.5t105 39.5q36 0 56.5 -32t20.5 -83zM365 316q0 76 -35 76
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</svg>  to each other.</table>

International Journal of Reconfigurable Computing

fig13

Figure 13

Figure 13: Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware 