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This paper presents a single-chip, high-performance, and energy-efficient stereo vision depth-estimation processor for micro aerial vehicles (MAVs). The proposed processor implements the state-of-the-art semi-global matching (SGM) algorithm to deliver full high-definition (HD, 1920 ${\times }$ 1080) stereo-depth outputs with a maximum of 38 frames/s throughput. Algorithm-architecture co-optimization...
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