A Harris Corner Detector Implementation in SoC-FPGA for Visual SLAM

Schulz, Victor Hugo; Bombardelli, Felipe Gustavo; Todt, Eduardo

doi:10.1007/978-3-319-47247-8_4

Cited by 10 publications

(4 citation statements)

References 25 publications

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“…For instance, Alabdo et al [13] describe a complete visual pipeline on FPGA, including thresholding, erosion, blob detection, and centers calculation. FPGAs have also been used for more elaborate image processing, such as Harris corner detector [14], and extraction and matching of scale-invariant feature transform (SIFT) keypoints [15].…”

Section: Related Workmentioning

confidence: 99%

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

et al. 2021

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Reconfigurable computing provides a paradigm to create intelligent systems different from the classic software computing approach. Instead of using a processor with an instruction set, a full stack of middleware, and an application program running on top, the field-programmable gate arrays (FPGAs) integrate a cell set that can be configured in different ways. A few vendors have dominated this market with their proprietary tools, hardware devices, and boards, resulting in fragmented ecosystems with few standards and little interoperation. However, a new and complete toolchain for FPGAs with its associated open tools has recently emerged from the open-source community. Robotics is an expanding application field that may definitely benefit from this revolution, as fast speed and low power consumption are usual requirements. This paper hypothesizes that basic reactive robot behaviors may be easily designed following the reconfigurable computing approach and the state-of-the-art open FPGA toolchain. They provide new abstractions such as circuit blocks and wires for building intelligent robots. Visual programming and block libraries make such development painless and reliable. As experimental validation, two reactive behaviors have been created in a real robot involving common sensors, actuators, and in-between logic. They have been also implemented using classic software programming for comparison purposes. Results are discussed and show that the development of reactive robot behaviors using reconfigurable computing and open tools is feasible, also achieving a high degree of simplicity and reusability, and benefiting from FPGAs’ low power consumption and time-critical responsiveness.

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Section: Related Workmentioning

confidence: 99%

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

et al. 2021

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“…Gu et al [106] implement SIFT-feature based SLAM algorithm on FPGA and accelerate the matrix computation part to achieve speedup. Harris corner detector is used to extract corners and features of an image, and Schulz et al [119] propose an implementation of Harris and Stephen corner detector optimized for an embedded SoC platform that integrates a multicore ARM processor with Zynq-7000 FPGA. Taking into account I/O requirements and the advantage of parallelization and pipeline, this design achieves a speedup of 1.77 compared to dual-core ARM processors.…”

Section: Sparse Slam On Fpgamentioning

confidence: 99%

A Survey of FPGA-Based Robotic Computing

Wan

Bo²,

Li³

et al. 2020

Preprint

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Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in diverse scenarios. However, the high computation and data complexity of robotic algorithms pose great challenges to its applications. On the one hand, CPU platform is flexible to handle multiple robotic tasks. GPU platform has higher computational capacities and easy-touse development frameworks, so they have been widely adopted in several applications. On the other hand, FPGA-based robotic accelerators are becoming increasingly competitive alternatives, especially in latency-critical and power-limited scenarios. With specialized designed hardware logic and algorithm kernels, FPGA-based accelerators can surpass CPU and GPU in performance and energy efficiency. In this paper, we give an overview of previous work on FPGA-based robotic accelerators covering different stages of the robotic system pipeline. An analysis of software and hardware optimization techniques and main technical issues is presented, along with some commercial and space applications, to serve as a guide for future work.

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“…Predictability characteristics and time stability are essential requirements for real-time systems. [1].…”

Section: Introductionmentioning

confidence: 99%

“…The majority of contemporary image processing and computer vision systems still struggle with the basic challenge of identifying the area of interest in a picture. This is necessary for a wide range of applications, including advanced driving assistance systems (ADAS), which identify things like pedestrians, traffic signals, and blind spots; lane departure warning systems; video surveillance applications; and simultaneous localization and mapping (SLAM) [1]. One example of this kind of feature in a picture is a corner, which is the place at where two distinct edges meet.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Real-Time Image Processing System Based on Sobel Edge Detection using Model-based Design Methods

Saidani,

Ghodhbani,

Ammar

et al. 2024

IJACSA

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Image processing and computer vision applications often use the Sobel edge detection technique in order to discover corners in input photographs. This is done in order to improve accuracy and efficiency. For the great majority of today's image processing applications, real-time implementation of image processing techniques like Sobel edge detection in hardware devices like field-programmable gate arrays (FPGAs) is required. Sobel edge detection is only one example. The use of FPGAs makes it feasible to have a quicker algorithmic throughput, which is required in order to match real-time speeds or in circumstances when it is critical to have faster data rates. The results of this study allowed for the Sobel edge detection approach to be applied in a manner that was not only speedy but also space-efficient. For the purpose of actually putting the recommended implementation into action, a one-of-a-kind highlevel synthesis (HLS) design approach for intermediate data nodes that is based on application-specific bit widths was used. The high-level simulation code known as register transfer level (RTL) was generated by using the MATLAB HDL coder for HLS. The code written in hardware description language (HDL) that was produced was implemented on a Xilinx ZedBoard with the aid of the Vivado software, and it was tested in real time with the assistance of an input video stream.

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A Harris Corner Detector Implementation in SoC-FPGA for Visual SLAM

Cited by 10 publications

References 25 publications

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

Reconfigurable Computing for Reactive Robotics Using Open-Source FPGAs

A Survey of FPGA-Based Robotic Computing

Design and Implementation of a Real-Time Image Processing System Based on Sobel Edge Detection using Model-based Design Methods

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