Fast and accurate depth estimation, or stereo matching, is essential in embedded stereo vision systems, requiring substantial design effort to achieve an appropriate balance among accuracy, speed and hardware cost. To reduce the design effort and achieve the right balance, we propose FP-Stereo for building high-performance stereo matching pipelines on FPGAs automatically. FP-Stereo consists of an open-source hardware-efficient library, allowing designers to obtain the desired implementation instantly. Diverse methods are supported in our library for each stage of the stereo matching pipeline and a series of techniques are developed to exploit the parallelism and reduce the resource overhead. To improve the usability, FP-Stereo can generate synthesizable C code of the FPGA accelerator with our optimized HLS templates automatically. To guide users for the right design choice meeting specific application requirements, detailed comparisons are performed on various configurations of our library to investigate the accuracy/speed/cost trade-off. Experimental results also show that FP-Stereo outperforms the state-of-the-art FPGA design from all aspects, including 6.08% lower error, 2x faster speed, 30% less resource usage and 40% less energy consumption. Compared to GPU designs, FP-Stereo achieves the same accuracy at a competitive speed while consuming much less energy.

中文翻译：

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FP-Stereo：适用于嵌入式应用的硬件高效立体视觉

快速准确的深度估计或立体匹配在嵌入式立体视觉系统中是必不可少的，需要大量的设计工作来实现准确度、速度和硬件成本之间的适当平衡。为了减少设计工作量并实现适当的平衡，我们建议使用 FP-Stereo 在 FPGA 上自动构建高性能立体匹配流水线。FP-Stereo 包含一个开源硬件高效库，允许设计人员立即获得所需的实现。我们的库支持立体匹配管道的每个阶段的多种方法，并且开发了一系列技术来利用并行性并减少资源开销。为了提高可用性，FP-Stereo 可以使用我们优化的 HLS 模板自动生成 FPGA 加速器的可综合 C 代码。为了指导用户选择满足特定应用要求的正确设计，我们对库的各种配置进行了详细比较，以研究准确性/速度/成本的权衡。实验结果还表明，FP-Stereo 在各个方面都优于最先进的 FPGA 设计，包括低 6.08% 的错误、2 倍的速度、30% 的资源使用和 40% 的能耗降低。与 GPU 设计相比，FP-Stereo 以具有竞争力的速度实现相同的精度，同时消耗更少的能量。包括错误降低 6.08%、速度提高 2 倍、资源使用减少 30% 和能源消耗减少 40%。与 GPU 设计相比，FP-Stereo 以具有竞争力的速度实现相同的精度，同时消耗更少的能量。包括错误降低 6.08%、速度提高 2 倍、资源使用减少 30% 和能源消耗减少 40%。与 GPU 设计相比，FP-Stereo 以具有竞争力的速度实现相同的精度，同时消耗更少的能量。