PROJECT

March 2024
Implementation of stereo matching algorithm in smart
phone for depth calculation of obstacles

Ayisha Siddeequa A 811220104007

Benasir S 811220104008
Kiruthika M 811220104027

Project Supervisor
Dr. G. Balakrishnan
Manager of Director
 TABLE OF CONTENT
• Abstract
• Introduction
• Objectives
• Literature Review
• Literature Inference
• Proposed System
• System Specification
• Methodology
• Screenshot
• Experimental Result
• Evaluation
• Outcomes
• Conclusion
• References
 ABSTRACT
• Stereo vision algorithms, optimized for smart phones, enable real-
time depth estimation by leveraging dual-camera setups.
• Techniques like block matching and SGBM efficiently compute the
disparity map from stereo image pairs for accurate depth calculation.
• Depth maps generated by stereo matching algorithms facilitate
obstacle detection and avoidance on smart phones.
• Using a depth map, we can gauge the distance of obstacles from the
camera.
 INTRODUCTION
• Stereo vision, facilitated by stereo matching algorithms, empowers
smartphones with depth perception capabilities through dual-camera
setups.
• Traditional depth sensing methods are complemented by stereo vision,
offering cost-effective and accurate depth estimation from natural
image pairs.
• Stereo matching algorithms, such as SGBM, analyze stereo image pairs
to compute depth maps, enabling real-time obstacle detection.
 OBJECTIVES
• Adapt Stereo matching algorithms for integration into smartphone
platforms.

• Extract depth information from smartphone cameras to find the

obstacles.
 LITERATURE REVIEW
• MobiDepth: Real-Time Depth Estimation Using On-DeviceDual
Cameras.

• A Deep Learning-Enhanced Stereo Matching Method and Its

Application to Bin Picking Problems Involving Tiny Cubic Work
pieces
 LITERATURE INFERENCE
• Smartphone stereo matching algorithms offer promising real-time
obstacle depth calculation.
• Using dual camera setup, computation power is leveraged.

• They utilize modern smartphone computational power and dual-camera

setups for accurate depth estimation.
• Optimized algorithms ensure efficient resource use and maintain high
accuracy.
 PROPOSED SYSTEM

Advantages:
• It improves accuracy by using Semi Global Block Matching.
• It reduces Computational Complexity because it fetches the portrait
mode of obstacle.
 SYSTEM SPECIFICATION

• Operating System: Window 10

• Ram : 8 GB
• Processor : Intel I7
SYSTEM ARCHITECTURE
METHODOLOGY
 Semi Global Block Matching Algorithm
Calibration:
Process of determining the intrinsic and extrinsic parameters of
the stereo camera system.
Calibration procedure
 Cost Calculation

• Matching Cost: Computes the matching cost for each pixel in

the left image by comparing it with neighboring pixels in the
right image.
• Cost Function: C(x,y,d) is to measure the dissimilarity between
corresponding pixel patches in the left and right images at
disparity d.
 Matching
pixels of left
image and
right image
 Disparity Mapping and Portrait

• Disparity Map: Represents the difference in pixel coordinates

between corresponding points in the left and right images.
 Depth Calculation

Computes the depth in inches based on,

• Disparity value,
• Baseline (distance between the cameras),
• Focal length of the cameras.
SCREENSHOTS
EXPERIMENTAL RESULTS
 CONCLUSION
• Leveraging smartphone dual cameras with portrait mode facilitate obstacle
detection.
• Disparity mapping using Semi-Global Block Matching (SGBM) extracts
depth information, enhancing obstacle identification and depth perception.
 REFERENCES
• MobiDepth: Real-Time Depth inrui Zhang, Huan Yang, Ju Ren, Deyu
Zhang, Bangwen He1, Ting Cao, Yuanchun Li,Yaoxue Zhang, Yunxin Liu
Estimation Using On-Device Dual Cameras.
• A Deep Learning-Enhanced Stereo Matching Method and Its Application
to Bin Picking Problems Involving Tiny Cubic Workpieces by Masaru
Yoshizawa,Kazuhiro Motegi andYoichi Shiraishi.
• Normal Assisted Stereo Depth Estimation by Uday Kusupati; Shuo Cheng;
Rui Chen; Hao Su.