Klette, ReinhardHermann, S2015-03-0620115th Pacific Rim Symposium, PSIVT 2011, Gwangju, South Korea, 20 Nov 2011 - 23 Nov 2011. Advances in Image and Video Technology, Lecture Notes in Computer Science. 7087: 395-406. 2011978-3-642-25367-60302-9743https://hdl.handle.net/2292/24784The paper considers semi-global stereo matching in the context of vision-based driver assistance systems. The need for real-time performance in this field requires a design change of the originally proposed method to run on current hardware. This paper proposes such a new design; the novel strategy first generates a disparity map from half-resolution input images. The result is then used as prior to restrict the disparity search space for full-resolution computation. This approach is compared to an SGM strategy as employed currently in a state-of-the-art real-time FPGA solution. Furthermore, trinocular stereo evaluation is performed on ten real-world traffic sequences with a total of 4,000 trinocular frames. An extension to the original evaluation methodology is proposed to resolve ambiguities and to incorporate disparity density in a statistically meaningful way. Evaluation results indicate that the novel SGM method is up to 40% faster when compared to the previous strategy. It returns denser disparity maps, and is also more accurate on evaluated traffic scenes.Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from http://www.springer.com/gp/open-access/authors-rights/self-archiving-policy/2124 http://www.sherpa.ac.uk/romeo/issn/0302-9743/https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htmConference Item10.1007/978-3-642-25367-6_35http://purl.org/eprint/accessRights/OpenAccess