A miniature stereo vision machine to generate high-resolution dense depth maps has been developed for application to portable intelligent robots and smart visual interface.The machine uses multiple cameras

each with a very wide field of view

to synchronously capture stereo image sequences

and then computes dense depth maps in real time. The whole algorithm

including radial distortion correction

LoG filtering

correspondence finding

and dense depth map computation

is compactly implemented in a single FPGA.The machine

running at 60Mhz

could achieve more than 30 fps for building dense disparity maps with 320×240 pixels in 64-pixel disparity search range and 8-bit depth precision.