Generation of a disparity result with low latency
A powerful, scaleable, and reconfigurable image processing system and method of processing data therein is described. This general purpose, reconfigurable engine with toroidal topology, distributed memory, and wide bandwidth I/O are capable of solving real applications at real-time speeds. The reconfigurable image processing system can be optimized to efficiently perform specialized computations, such as real-time video and audio processing. This reconfigurable image processing system provides high performance via high computational density, high memory bandwidth, and high I/O bandwidth. Generally, the reconfigurable image processing system and its control structure include a homogeneous array of 16 field programmable gate arrays (FPGA) and 16 static random access memories (SRAM) arranged in a partial torus configuration. The reconfigurable image processing system also includes a PCI bus interface chip, a clock control chip, and a datapath chip. It can be implemented in a single board. It receives data from its external environment, computes correspondence, and uses the results of the correspondence computations for various post-processing industrial applications. The reconfigurable image processing system determines correspondence by using non-parametric local transforms followed by correlation. These non-parametric local transforms include the census and rank transforms. Other embodiments involve a combination of correspondence, rectification, a left-right consistency check, and the application of an interest operator.
1. A method of generating disparity results comprising:
receiving a first element of a first set of image data and a first element of a second set of image data;
storing in a first memory the first element of the first set of image data and in a second memory the first element of the second set of image data; and
generating a disparity result for a first element before all elements of the first data set and the second data set have been received, wherein the disparity result is generated using a low latency image processing system that processes a plurality of elements of the first set of image data and a plurality of elements of the second set of image data.
2. The method of claim 1 , further comprising recognizing a hand gesture in order to control an application by tracking a location and an orientation of a user's hand based at least in part on the disparity result.
3. The method of claim 2 , wherein the application includes providing instructions for a visual display.
4. The method of claim 1 , further comprising alerting a person entering a controlled zone to a danger or redirecting hazardous activity around the person based at least in part on the disparity result.
5. The method of claim 1 , further comprising detecting a position of one or more vehicles and/or one or more pedestrians for a traffic monitoring application based at least in part on the disparity result.
6. The method of claim 1 , further comprising determining whether an object associated with the first element is moving by calculating a motion associated with the object as the object appears in a first image and in a second image taken at different times.
7. The method of claim 1 , wherein the low latency image processing system comprises a plurality of low latency parallel sub-processors that processes a portion of the first and second set of image data concurrently.
8. A system for generating disparity results comprising:
An interface for receiving a first element of a first set of image data and a first element of a second set of image data;
A first memory for storing the first element of the first set of image data;
A second memory for storing the first element of the second set of image data; and
A processor for generating a disparity result for a first element before all elements of the first data set and the second data set have been received, wherein the disparity result is generated using a low latency image processing system that processes a plurality of elements of the first set of image data and a plurality of elements of the second set of image data.
9. The system of claim 8 , wherein the processor is further configured to recognize a hand gesture in order to control an application by tracking a location and an orientation of a user's hand based at least in part on the disparity result.
10. The system of claim 9 , wherein the application includes providing instructions for a visual display.
11. The system of claim 8 , wherein the processor is further configured to alert a person entering a controlled zone to a danger or redirecting hazardous activity around the person based at least in part on the disparity result.
12. The system of claim 8 , wherein the processor is further configured to detect a position of one or more vehicles and/or one or more pedestrians for a traffic monitoring application based at least in part on the disparity result.
13. The system of claim 8 , wherein the processor is further configured to determine whether an object associated with the first element is moving by calculating a motion associated with the object as the object appears in a first image and in a second image taken at different times.
14. The system of claim 8 , wherein the low latency image processing system comprises a plurality of low latency parallel sub-processors that processes a portion of the first and second set of image data concurrently.