Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware
A reconfigurable architecture for dense stereo is presented as an observation framework for a real-time implementation of the simultaneous localization and mapping problem in robotics. The reconfigurable sensor detects point features from stereo image pairs to use at the measurement update stage of the procedure. The main hardware blocks are a dense depth stereo accelerator, a left and right image corner detector, and a stage performing left-right consistency check. For the stereo-processor stage, the authors have implemented and tested a global-matching component based on a maximum-likelihood dynamic programming technique.