Hardware-Efficient Design of Real-Time Profile Shape Matching Stereo Vision Algorithm on FPGA

Algorithm 1

Profile shape matching step  2.

for row in image do

 for vertex, 𝑣^𝐿_𝑛, in 𝑉_𝐿   do

  for  vertex, 𝑣^𝑅_𝑚, in 𝑉_𝑅 where 𝑣^𝐿_𝑛−𝑣^𝑅_𝑚≤𝑑_max   do

   while   ∇^𝑅[𝑞^𝑘₀]−∇^𝐿[𝑞^𝑘₀]<𝑡₀   do

    Increment 𝑞^𝑘

   end  while

   while   ∇^𝑅𝑝^𝑘₀−∇^𝐿𝑝^𝑘₀<𝑡₀   do

    Decrement 𝑝^𝑘

   end  while

  end  for

  Set 𝑆_𝑛(𝑣^𝐿_𝑛,𝑝^𝐿₀,𝑞^𝐿₀,𝑣^𝑅_𝑚,𝑝^𝑅₀,𝑞^𝑅₀)   s.t.   argmax_𝑣𝑅𝑚𝑞^𝑅₀−𝑝^𝑅₀

 end  for

 for   𝑡_𝑖 in thresholds  do

  for  vertex, 𝑣^𝑅, in 𝑉^𝑅   do

   while   ∇^𝑅𝑞_𝑖−∇^𝐿𝑞_𝑖<𝑡_𝑖   do

    Increment 𝑞

   end  while

   while   ∇^𝑅𝑝_𝑖−∇^𝐿𝑝_𝑖<𝑡_𝑖   do

    Decrement 𝑝

   end  while

   if  every pixel is assigned to a shape  then

    Continue to next row of image

   end  if

  end  for

 end  for

end  for