# Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

arXiv: https://arxiv.org/abs/2301.04847 · HTML: https://mlsanity.com/paper/2301.04847/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 14 references that are in the map.
- First posted on arXiv 12 Jan 2023.

## Builds on (most cited first, 3 of 3)

- [A Survey on Deep Learning Techniques for Stereo-based Depth Estimation](https://mlsanity.com/paper/2006.02535/) (2020)
- [A Survey of FPGA-Based Robotic Computing](https://mlsanity.com/paper/2009.06034/) (2020)
- [FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications](https://mlsanity.com/paper/2006.03250/) (2020)

## Abstract (arXiv)

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.