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

Figure 9

True disparities (upper row) and depth maps produced by the reconfigurable stereo processor (lower row), using the reference stereo set from the Middlebury data-base [10]. From left to right: “Tsukuba,” “books,” “cones,” and “sawtooth” stereo images.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)