In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840 x 2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device.

翻译：在本文中,我们提议实时实施半全球匹配立体视觉算法。设计模块支持4K/Ultra HD(3840x2160像素@30框架每秒)视频流,每小时4像素(ppc)格式和64像素差异范围。基线 SGM实施必须修改,以4ppc格式处理像素,并满足时间限制。然而,我们的版本提供了与原设计相仿的结果。在Xilinx VC707开发板上,用Virtex-7 FPGA装置对解决方案进行了积极评价。