This paper describes a novel heterogeneous SoC FPGA-based embedded system for stereo vision. Two complete implementations are presented and characterized. In both designs the auxiliary computations, such as the image rectification and the disparity map refinement, are performed by the custom hardware module purpose-designed to compute disparity maps, thus achieving very high speeds. The software routine run by the on-chip general-purpose processor is used to control configuration and communication. Obtained results show that, in comparison with several existing hardware designs, the proposed system reaches higher performances, competitive accuracies, lower complexity and higher flexibility.
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