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Author Cristhian A. Aguilera, Cristhian Aguilera, Cristóbal A. Navarro, & Angel D. Sappa
Title Fast CNN Stereo Depth Estimation through Embedded GPU Devices Type Journal Article
Year 2020 Publication Sensors 2020 Abbreviated Journal
Volume Vol. 2020-June Issue 11 Pages pp. 1-13
Keywords stereo matching; deep learning; embedded GPU
Abstract Current CNN-based stereo depth estimation models can barely run under real-time

constraints on embedded graphic processing unit (GPU) devices. Moreover, state-of-the-art

evaluations usually do not consider model optimization techniques, being that it is unknown what is

the current potential on embedded GPU devices. In this work, we evaluate two state-of-the-art models

on three different embedded GPU devices, with and without optimization methods, presenting

performance results that illustrate the actual capabilities of embedded GPU devices for stereo depth

estimation. More importantly, based on our evaluation, we propose the use of a U-Net like architecture

for postprocessing the cost-volume, instead of a typical sequence of 3D convolutions, drastically

augmenting the runtime speed of current models. In our experiments, we achieve real-time inference

speed, in the range of 5–32 ms, for 1216  368 input stereo images on the Jetson TX2, Jetson Xavier,

and Jetson Nano embedded devices.
Corporate Author (up) Thesis
Publisher Place of Publication Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 14248220 ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 132
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