An Optimized Software-Based Implementation of a Census-Based Stereo Matching Algorithm

  • Christian Zinner
  • Martin Humenberger
  • Kristian Ambrosch
  • Wilfried Kubinger
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5358)


This paper presents S 3 E, a software implementation of a high-quality dense stereo matching algorithm. The algorithm is based on a Census transform with a large mask size. The strength of the system lies in the flexibility in terms of image dimensions, disparity levels, and frame rates. The program runs on standard PC hardware utilizing various SSE instructions. We describe the performance optimization techniques that had a considerably high impact on the run-time performance. Compared to a generic version of the source code, a speedup factor of 112 could be achieved. On input images of 320×240 and a disparity range of 30, S 3 E achieves 42fps on an Intel Core 2 Duo CPU running at 2GHz.


Stereo vision Census-transform real-time performance optimization SSE OpenMP 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Christian Zinner
    • 1
  • Martin Humenberger
    • 1
  • Kristian Ambrosch
    • 1
  • Wilfried Kubinger
    • 1
  1. 1.Austrian Research Centers GmbH – ARCViennaAustria

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