Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Single Storage Semi-Global Matching for Real Time Depth Processing   Depth-map is the key computation in computer vision and robotics. One of the
most popular approach is via computation of disparity-map of images obtained
from Stereo Camera. Semi Global Matching (SGM) method is a popular choice for
good accuracy with reasonable computation time. To use such compute-intensive
algorithms for real-time applications such as for autonomous aerial vehicles,
blind Aid, etc. acceleration using GPU, FPGA is necessary. In this paper, we
show the design and implementation of a stereo-vision system, which is based on
FPGA-implementation of More Global Matching(MGM). MGM is a variant of SGM. We
use 4 paths but store a single cumulative cost value for a corresponding pixel.
Our stereo-vision prototype uses Zedboard containing an ARM-based Zynq-SoC,
ZED-stereo-camera / ELP stereo-camera / Intel RealSense D435i, and VGA for
visualization. The power consumption attributed to the custom FPGA-based
acceleration of disparity map computation required for depth-map is just 0.72
watt. The update rate of the disparity map is realistic 10.5 fps.

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The categories of this paper are: hep-th
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The categories of this paper are: comp-gas
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph
34
The categories of this paper are: chem-ph
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The categories of this paper are: math-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: solv-int
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The categories of this paper are: nucl-ex
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The categories of this paper are: astro-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: funct-an
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The categories of this paper are: dg-ga