  We present a flexible FPGA stereo vision implementation that is capable of
processing up to 100 frames per second or image resolutions up to 3.4
megapixels, while consuming only 8 W of power. The implementation uses a
variation of the Semi-Global Matching (SGM) algorithm, which provides superior
results compared to many simpler approaches. The stereo matching results are
improved significantly through a post-processing chain that operates on the
computed cost cube and the disparity map. With this implementation we have
created two stand-alone hardware systems for stereo vision, called SceneScan
and SceneScan Pro. Both systems have been developed to market maturity and are
available from Nerian Vision GmbH.
