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

Table 1

Resource utilization for system implementation.

	Image resolution	Logic elements	Memory bits
Stereo processor/33 disparity levels	320 × 240	10000	74048
49 disparity levels	640 × 480	14700	173632
65 disparity levels	640 × 480	21500	270240
Feature detector	640 × 480	4,000	10,000
Nios II processor + Cashe	—	2,000	120,000
USB 2.0 controller + EP buffer	—	2520	80,000
Other controllers	—	4000	30,000
Total resources 49 disparity levels	640 × 480	27220	413632