A high-performance stereo depth estimation system developed for autonomous vehicle perception during my internship at Sanborn. The system generates real-time depth maps from calibrated stereo camera pairs.
Algorithm Pipeline
- Stereo camera calibration with sub-pixel accuracy
- Image rectification using homography transforms
- Semi-Global Matching (SGM) for disparity computation
- Census Transform for robust stereo correspondence
- Left-right consistency check for occlusion handling
- Weighted Median Filter for disparity refinement
Optimizations Achieved
- 30% reduction in inference latency through CUDA optimization
- 15% improvement in downstream perception accuracy
- Real-time processing at 25+ FPS on RTX 3080
Visualization Features
- Jet colormap depth visualization
- 3D point cloud projection
- Confidence map generation