FPGA-based module for SURF extraction

Krajnik, Tomas and Šváb, Jan and Pedre, Sol and Cizek, Petr and Preucil, Libor (2014) FPGA-based module for SURF extraction. Machine Vision and Applications, 25 (3). pp. 787-800. ISSN 0932-8092

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FPGA-based module for SURF extraction
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Abstract

We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots.

Keywords:Embedded systems, computer vision, mobile robotics, JCNotOpen
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
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ID Code:13304
Deposited On:08 Feb 2014 19:53

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