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


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

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



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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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