  Dense, robust and real-time computation of depth information from
stereo-camera systems is a computationally demanding requirement for robotics,
advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global
Matching (SGM) is a widely used algorithm that propagates consistency
constraints along several paths across the image. This work presents a
real-time system producing reliable disparity estimation results on the new
embedded energy-efficient GPU devices. Our design runs on a Tegra X1 at 42
frames per second (fps) for an image size of 640x480, 128 disparity levels, and
using 4 path directions for the SGM method.
