12744

Acceleration of stereo-matching on multi-core CPU and GPU

Tian Xu, Paul Cockshott, Susanne Oehler
School of Computing Science, University of Glasgow
16th IEEE International Conference on High Performance Computing and Communications (HPCC 2014), 2014

@article{tian2014acceleration,

   title={Acceleration of stereo-matching on multi-core CPU and GPU},

   author={Tian, Xu and Cockshott, Paul and Oehler, Susanne},

   year={2014}

}

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This paper presents an accelerated version of a dense stereo-correspondence algorithm for two different parallelism enabled architectures, multi-core CPU and GPU. The algorithm is part of the vision system developed for a binocular robot-head in the context of the CloPeMa 1 research project. This research project focuses on the conception of a new clothes folding robot with real-time and high resolution requirements for the vision system. The performance analysis shows that the parallelised stereo-matching algorithm has been significantly accelerated, maintaining 12x and 176x speed-up respectively for multi-core CPU and GPU, compared with non-SIMD singlethread CPU. To analyse the origin of the speed-up and gain deeper understanding about the choice of the optimal hardware, the algorithm was broken into key sub-tasks and the performance was tested for four different hardware architectures.
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