Exploring Trade-Offs between Specialized Dataflow Kernels and a Reusable Overlay in a Stereo Matching Case Study

Algorithm 1

Horizontal aggregation step. Note: for  all: loops are independent; for: loops are ordered.

Require: : = input cost

Require: : = arm lengths

Ensure: : = aggregated costs of row segment around position in disparity

 for all  disparities  do

  for all  rows  do  compute running sums

   for    to  columns  do

     +

   end for

  end for

  for all  rows  do  compute row segment costs

   for all  columns  do

     −

   end for

  end for

 end for