Real-time 2-D feature detection on a reconfigurable computer
- Creators
- Benedetti, A.
-
Perona, P.
Abstract
We have designed and implemented a system for real-time detection of 2-D features on a reconfigurable computer based on Field Programmable Gate Arrays (FPGA's). We envision this device as the front-end of a system able to track image features in real-time control applications like autonomous vehicle navigation. The algorithm employed to select good features is inspired by Tomasi and Kanade's method. Compared to the original method, the algorithm that we have devised does not require any floating point or transcendental operations, and can be implemented either in hardware or in software. Moreover, it maps efficiently into a highly pipelined architecture, well suited to implementation in FPGA technology. We have implemented the algorithm on a low-cost reconfigurable computer and have observed reliable operation on an image stream generated by a standard NTSC video camera at 30 Hz.
Additional Information
© 1998 IEEE. Date of Current Version: 06 August 2002. The authors acknowledge Synopsys and Xilinx for their continued support, and are grateful to Paul Laity for providing us with a pre-release of the Xilinx Logi-Core Multiplier library and to Brad Taylor for many discussions on porting the feature selection algorithm to the G800 reconfigurable computer.Additional details
- Eprint ID
- 28739
- DOI
- 10.1109/CVPR.1998.698665
- Resolver ID
- CaltechAUTHORS:20120110-152437674
- Created
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2012-01-11Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 5985901