semi-global matching

Semi-global matching (SGM) is a computer vision algorithm for the estimation of a dense disparity map from a rectified stereo image pair, introduced in 2005 by Heiko Hirschmüller while working at the German Aerospace Center. Given its predictable run time, its favourable trade-off between quality of the results and computing time, and its suitability for fast parallel implementation in ASIC or FPGA, it has encountered wide adoption in real-time stereo vision applications such as robotics and advanced driver assistance systems.