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Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Mälardalens högskola, Akademin för innovation, design och teknik.ORCID-id: 0000-0001-7934-6917
Visa övriga samt affilieringar
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.

Ort, förlag, år, upplaga, sidor
2012. s. 415-418
Nationell ämneskategori
Robotteknik och automation Inbäddad systemteknik
Forskningsämne
elektronik
Identifikatorer
URN: urn:nbn:se:mdh:diva-13007ISBN: 9789898565044 (tryckt)OAI: oai:DiVA.org:mdh-13007DiVA, id: diva2:441066
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
Ingår i avhandling
1. Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
Öppna denna publikation i ny flik eller fönster >>Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
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:nbn:se:mdh:diva-12996 (URN)978-91-7485-035-2 (ISBN)
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

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Ekstrand, FredrikEkström, MikaelAsplund, Lars

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Ekstrand, FredrikAhlberg, CarlEkström, MikaelAsplund, LarsSpampinato, Giacomo
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Akademin för innovation, design och teknik
Robotteknik och automationInbäddad systemteknik

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