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Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
Mälardalens högskola, Akademin för innovation, design och teknik.ORCID-id: 0000-0001-7934-6917
2011 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

There is a need for compact, high-speed, and low-power vision systems for enabling real-time mobile autonomous applications. The best approach to achieve this is to implement the bulk of the application in hardware. Reconfigurable hardware meet these requirements without the limitation of fixed functionality that accompanies application-specific circuits. Resource constraints of reconfigurable hardware calls for optimized implementations i terms of resource usage with maintained performance.

The research group in Robotics at Mälardalen University is moving toward the completion of a reconfigurable hardware-platform for stereo vision, coupled with a compact embedded computer. This system will incorporate hardware-based preprocessing components enabling visual perception for autonomous machines. This thesis covers the reconfigurable hardware section of the vision system concerning the realization of scene depth extraction. It shows the advantages of image preprocessing in hardware and propose a resource optimized approach to stereo matching. The work quantifies the impact of reduced resource utilization and a desire for increased accuracy in disparity estimation. The implemented stereo matching approach performs on par with recent similar implementations in terms of accuracy, but excels in terms of resource utilization and resource sharing, as the external memory requirement is removed for larger images.

Future work aims to further include processes for navigation, and structure and object recognition. Furthermore, the system will be adapted to real world scenarios, both indoors and outdoors.

Ort, förlag, år, upplaga, sidor
Västerås: Mälardalen University , 2011.
Serie
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 142
Nationell ämneskategori
Robotteknik och automation Inbäddad systemteknik
Forskningsämne
elektronik
Identifikatorer
URN: urn:nbn:se:mdh:diva-12996ISBN: 978-91-7485-035-2 (tryckt)OAI: oai:DiVA.org:mdh-12996DiVA, id: diva2:440864
Presentation
2011-09-26, Beta, 14:00 (Engelska)
Opponent
Handledare
Tillgänglig från: 2011-09-14 Skapad: 2011-09-14 Senast uppdaterad: 2013-12-03Bibliografiskt granskad
Delarbeten
1. Two Camera System for Robot Applications; Navigation
Öppna denna publikation i ny flik eller fönster >>Two Camera System for Robot Applications; Navigation
2008 (Engelska)Ingår i: 13th IEEE International Conference on Emerging Technologies and Factory Automation, 2008. (ETFA 2008), 2008, s. 345-352Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Current approaches to feature detection and matching

in images strive to increase the repeatability of the detector

and minimize the degree of outliers in the matching.

In this paper we present a conflicting approach; we suggest

that a lower performance feature detector can produce

a result more than adequate for robot navigation irrespectively

of the amount of outliers. By using an FPGA

together with two cameras we can remove the need for

descriptors by performing what we call spurious matching

and the use of 3D landmarks. The approach bypasses

the problem of outliers and reduces the time consuming

task of data association, which slows many matching algorithms.

Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:mdh:diva-7254 (URN)10.1109/ETFA.2008.4638417 (DOI)2-s2.0-56349088961 (Scopus ID)1424415063 (ISBN)
Konferens
13th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2008; Hamburg; Germany; 15 September 2008 through 18 September 2008
Tillgänglig från: 2009-09-25 Skapad: 2009-09-25 Senast uppdaterad: 2014-01-10Bibliografiskt granskad
2. Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Öppna denna publikation i ny flik eller fönster >>Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Visa övriga...
2011 (Engelska)Ingår i: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011, s. 465-469Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper proposes a limited implementation of areabasedstereo matching for minimal resource utilization. It shows that it is possible to achieve an acceptable disparity map without the use of expensive resources. The matching accuracy for the single-row SAD can even outperform that of its full-row counterpart. Additionally, it excels in terms of frame rate and resource utilization, and is highly suitable for real-time stereo-vision systems.

Nationell ämneskategori
Robotteknik och automation Inbäddad systemteknik
Forskningsämne
elektronik
Identifikatorer
urn:nbn:se:mdh:diva-13006 (URN)10.1109/ICARA.2011.6144928 (DOI)2-s2.0-84857402371 (Scopus ID)978-145770328-7 (ISBN)
Konferens
5th International Conference on Automation, Robotics and Applications, Wellington, December 6-8, 2011
Tillgänglig från: 2011-09-14 Skapad: 2011-09-14 Senast uppdaterad: 2013-12-19Bibliografiskt granskad
3. Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Öppna denna publikation i ny flik eller fönster >>Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Visa övriga...
2012 (Engelska)Ingår i: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2, 2012, s. 415-418Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

This paper presents a set of approaches for increasing the accuracy of basic area-based stereo matching methods. It is targeting real-time FPGA systems for dense disparity map estimation. The methods are focused on low resource usage and maximized improvement per cost unit to enable the inclusion of an autonomous system in an FPGA. The approach performs on par with other area-matching implementations, but at substantially lower resource usage. Additionally, the solution removes the requirement for external memory for reconfigurable hardware together with the limitation in image size accompanying standard methods. As a fully piped complete on-chip solution, it is highly suitable for real-time stereo-vision systems, with a frame rate over 100 fps for Megapixel images.

Nationell ämneskategori
Robotteknik och automation Inbäddad systemteknik
Forskningsämne
elektronik
Identifikatorer
urn:nbn:se:mdh:diva-13007 (URN)9789898565044 (ISBN)
Konferens
International Conference on Computer Vision Theory and Applications, VISAPP 2012; Rome; 24 February 2012
Tillgänglig från: 2011-09-14 Skapad: 2011-09-14 Senast uppdaterad: 2015-01-09Bibliografiskt granskad

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