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

Table 3

Accuracy, runtime performance, and hardware resource usage of FPGA implementation of the census-based algorithm by Jin et al. [18] and the profile shape matching algorithm.

Algorithm		Nonocc.	All	Disc.	%Correct	Mde/s	Slices; BRAMs
Census [18]	Tsukuba	9.79	11.6	20.3	86.02	4522
	Venus	3.59	5.3	37			51,191
	Teddy	13	21.5	31			322
	Cones	7.3	18	21
Profile	Tsukuba	7.78	9.54	31.10	78.0	1500
Shape	Venus	10.5	12.0	34.7			4,854
Matching	Teddy	34.0	40.8	51.6			30
	Cones	16.2	25.5	35.2