{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T06:25:55Z","timestamp":1777443955781,"version":"3.51.4"},"reference-count":14,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2013,3,4]],"date-time":"2013-03-04T00:00:00Z","timestamp":1362355200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper, proposes a novel solution for a stereo vision machine based on the System-on-Programmable-Chip (SoPC) architecture. The SOPC technology provides great convenience for accessing many hardware devices such as DDRII, SSRAM, Flash, etc., by IP reuse. The system hardware is implemented in a single FPGA chip involving a 32-bit Nios II microprocessor, which is a configurable soft IP core in charge of managing the image buffer and users\u2019 configuration data. The Sum of Absolute Differences (SAD) algorithm is used for dense disparity map computation. The circuits of the algorithmic module are modeled by the Matlab-based DSP Builder. With a set of configuration interfaces, the machine can process many different sizes of stereo pair images. The maximum image size is up to 512 K pixels. This machine is designed to focus on real time stereo vision applications. The stereo vision machine offers good performance and high efficiency in real time. Considering a hardware FPGA clock of 90 MHz, 23 frames of 640 \u00d7 480 disparity maps can be obtained in one second with 5 \u00d7 5 matching window and maximum  64 disparity pixels.<\/jats:p>","DOI":"10.3390\/s130303014","type":"journal-article","created":{"date-parts":[[2013,3,4]],"date-time":"2013-03-04T11:03:50Z","timestamp":1362395030000},"page":"3014-3027","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["SAD-Based Stereo Vision Machine on a  System-on-Programmable-Chip (SoPC)"],"prefix":"10.3390","volume":"13","author":[{"given":"Xiang","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,  Hangzhou 310027, China"},{"name":"School of Computer, Hangzhou Dianzi University, Hangzhou 310018, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhangwei","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,  Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,3,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1109\/83.650851","article-title":"GOLD: A parallel real-time stereo vision system for generic obstacle and lane detection","volume":"7","author":"Bertozzi","year":"1998","journal-title":"IEEE Trans. Image Process."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1023\/A:1008987612352","article-title":"Using real-time stereo vision for mobile robot navigation","volume":"8","author":"Murray","year":"2000","journal-title":"Autonom. Rob."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"309","DOI":"10.1007\/978-3-540-30102-8_26","article-title":"Real-time three dimensional vision","volume":"3189","author":"Yi","year":"2004","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Perri, S., Colonna, D., Zicari, P., and Corsonello, P. (2006, January 10\u201313). SAD-Based Stereo Matching Circuit for FPGAs. Nice, France.","DOI":"10.1109\/ICECS.2006.379921"},{"key":"ref_5","unstructured":"Darabiha, A., Rose, J., and MacLean, W.J. (2003, January 18\u201320). Video-Rate Stereo Depth Measurement on Programmable Hardware. Madison, WI, USA."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1863","DOI":"10.3390\/s120201863","article-title":"Parametric dense stereovision implementation on a System-on-Chip (SoC)","volume":"12","author":"Gardel","year":"2012","journal-title":"Sensors"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1007\/s11554-010-0157-6","article-title":"A real-time fuzzy hardware structure for disparity map computation","volume":"6","author":"Georgoulas","year":"2011","journal-title":"J. Real Time Image Process."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Motten, A., and Claesen, L. (2011, January 26\u201328). Low-Cost Real-Time Stereo Vision Hardware with Binary Confidence Metric and Disparity Refinement. Hangzhou, China.","DOI":"10.1109\/ICMT.2011.6002155"},{"key":"ref_9","unstructured":"Avalon Interface Specifications. Available online: www.altera.com\/literature\/manual\/mnl_avalon_spec.pdf (accessed on 6 May 2012)."},{"key":"ref_10","unstructured":"Profiling Nios II System. Available online: http:\/\/www.altera.com\/literature\/an\/an391.pdf (accessed on 26 February 2013)."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Ambrosch, K., Humenberger, M., Kubinger, W., and Steininger, A. (2007, January 17\u201322). Hardware Implement of an SAD Based Stereo Vision Algorithm. Minneapolis, MN, USA.","DOI":"10.1109\/CVPR.2007.383417"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Kalomiros, J., and Lygouras, J. (2009). Comparative study of local SAD and dynamic programming for stereo processing using dedicated hardware. EURASIP J. Adv. Signal Process.","DOI":"10.1155\/2009\/914186"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1155","DOI":"10.1007\/978-3-540-30117-2_154","article-title":"Real-time detection of moving objects","volume":"3203","author":"Niitsuma","year":"2004","journal-title":"Lect. Note. Comput. Sci."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Miyajima, Y., and Maruyama, T. (2003, January 1\u20133). A Real-Time Stereo Vision System with FPGA. Lisbon, Portugal.","DOI":"10.1007\/978-3-540-45234-8_44"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/3\/3014\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:45:16Z","timestamp":1760219116000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/3\/3014"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,3,4]]},"references-count":14,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2013,3]]}},"alternative-id":["s130303014"],"URL":"https:\/\/doi.org\/10.3390\/s130303014","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,3,4]]}}}