A Novel Hardware–Software Co-Design and Implementation of the HOG Algorithm

Abstract

The histogram of oriented gradients is a commonly used feature extraction algorithm in many applications. Hardware acceleration can boost the speed of this algorithm due to its large number of computations. We propose a hardware–software co-design of the histogram of oriented gradients and the subsequent support vector machine classifier, which can be used to process data from digital image sensors. Our main focus is to minimize the resource usage of the algorithm while maintaining its accuracy and speed. This design and implementation make four contributions. First, we allocate the computationally expensive steps of the algorithm, including gradient calculation, magnitude computation, bin assignment, normalization and classification, to hardware, and the less complex windowing step to software. Second, we introduce a logarithm-based bin assignment. Third, we use parallel computation and a time-sharing protocol to create a histogram in order to achieve the processing of one pixel per clock cycle after the initialization (setup time) of the pipeline, and produce valid results at each clock cycle afterwards. Finally, we use a simplified block normalization logic to reduce hardware resource usage while maintaining accuracy. Our design attains a frame rate of 115 frames per second on a Xilinx® Kintex® Ultrascale™ FPGA while using less hardware resources, and only losing accuracy marginally, in comparison with other existing work.

A Survey of FPGA-Based Vision Systems for Autonomous Cars

“…Many previous attempts to provide FPGA-based PD are based on classic ML approaches, HOG+SVM [54]- [56], [62], HOG+AdaBoost [57], or Haar+SVM [61]. Most works justify sacrificing accuracy to achieve higher throughput.…”

“…al. [62] propose several algorithmic changes to the original HOG algorithm and implement it on FPGA. First, they replace divisions and multiplications in bin assignment by logarithmic operations.…”