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Authors: Luis Almeida 1 ; Paulo Menezes 2 and Jorge Dias 2

Affiliations: 1 Institute Polytechnic of Tomar, Portugal ; 2 University of Coimbra, Portugal

Keyword(s): Cepstrum, GPU, CUDA, Vergence.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Real-Time Vision

Abstract: Vergence ability is an important visual behavior observed on living creatures when they use vision to interact with the environment. The notion of active observer is equally useful for robotic vision systems on tasks like object tracking, fixation and 3D environment structure recovery. Humanoid robotics are a potential playground for such behaviors. This paper describes the implementation of a real time binocular vergence behavior using cepstral filtering to estimate stereo disparities. By implementing the cepstral filter on a graphics processing unit (GPU) using Compute Unified Device Architecture (CUDA) we demonstrate that robust parallel algorithms that used to require dedicated hardware are now available on common computers. The cepstral filtering algorithm speed up is more than sixteen times than on a current CPU. The overall system is implemented in the binocular vision system IMPEP (IMPEP Integrated Multimodal Perception Experimental Platform) to illustrate the system performa nce experimentally. (More)

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Paper citation in several formats:
Almeida, L.; Menezes, P. and Dias, J. (2011). STEREO VISION HEAD VERGENCE USING GPU CEPSTRAL FILTERING. In Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP; ISBN 978-989-8425-47-8; ISSN 2184-4321, SciTePress, pages 665-670. DOI: 10.5220/0003319406650670

@conference{visapp11,
author={Luis Almeida. and Paulo Menezes. and Jorge Dias.},
title={STEREO VISION HEAD VERGENCE USING GPU CEPSTRAL FILTERING},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP},
year={2011},
pages={665-670},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003319406650670},
isbn={978-989-8425-47-8},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications (VISIGRAPP 2011) - VISAPP
TI - STEREO VISION HEAD VERGENCE USING GPU CEPSTRAL FILTERING
SN - 978-989-8425-47-8
IS - 2184-4321
AU - Almeida, L.
AU - Menezes, P.
AU - Dias, J.
PY - 2011
SP - 665
EP - 670
DO - 10.5220/0003319406650670
PB - SciTePress

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