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FPGA based accelerator for visual features detection

Brenot, François and Fillatreau, Philippe and Piat, Jonathan FPGA based accelerator for visual features detection. (2015) In: International Workshop IEEE Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), 22 June 2015 - 24 June 2015 (Liberec, Czech Republic).

(Document in English)

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Official URL: https://ieeexplore.ieee.org/document/7208697


In the context of obstacle detection and tracking for a vision-based ADAS (Advanced Driver Assistance System), one mandatory task is vehicle localization. Vision-based SLAM (Simultaneous Localization and Mapping) proposes to solve this problem by combining the estimation of the vehicle state (localisation: position and orientation) and an incremental modelling of the environment using a perception module (feature detection and matching) in images acquired using one camera or more. Such a perception module requires an important computational load that highly affects the latency and the throughput of the system. Our goal is to implement the SLAM functionality on a low power consumption mixed hardware and software architecture (using a co-design approach) based on a Xilinx Zynq FPGA. This device includes logic cells that allows to speed-up the perception tasks to meet the real-time constraint of an ADAS. In this paper, we present the implementation of two hardware components : a FAST (Features from Accelerated Segment Test) features detector and a parametrizable corner refinement module (Non Maxima Suppression - NMS)

Item Type:Conference or Workshop Item (Paper)
Additional Information:© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-02053201
Audience (conference):International conference proceedings
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Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:16 Jan 2019 13:30

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