High-Performance Binocular Disparity Prediction Algorithm for Edge Computing

Abstract

End-to-end disparity estimation algorithms based on cost volume deployed in edge-end neural network accelerators have the problem of structural adaptation and need to ensure accuracy under the condition of adaptation operator. Therefore, this paper proposes a novel disparity calculation algorithm that uses low-rank approximation to approximately replace 3D convolution and transposed 3D convolution, WReLU to reduce data compression caused by the activation function, and unimodal cost volume filtering and a confidence estimation network to regularize cost volume. It alleviates the problem of disparity-matching cost distribution being far away from the true distribution and greatly reduces the computational complexity and number of parameters of the algorithm while improving accuracy. Experimental results show that compared with a typical disparity estimation network, the absolute error of the proposed algorithm is reduced by 38.3%, the three-pixel error is reduced to 1.41%, and the number of parameters is reduced by 67.3%. The calculation accuracy is better than that of other algorithms, it is easier to deploy, and it has strong structural adaptability and better practicability.