  In this paper, we propose a low error rate and real-time stereo vision system
on GPU. Many stereo vision systems on GPU have been proposed to date. In those
systems, the error rates and the processing speed are in trade-off
relationship. We propose a real-time stereo vision system on GPU for the high
resolution images. This system also maintains a low error rate compared to
other fast systems. In our approach, we have implemented the cost aggregation
(CA), cross-checking and median filter on GPU in order to realize the real-time
processing. Its processing speed is 40 fps for 1436x992 pixels images when the
maximum disparity is 145, and its error rate is the lowest among the GPU
systems which are faster than 30 fps.
