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Resource Optimized Stereo Matching in Reconfigurable Hardware for Autonomous Systems
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0001-7934-6917
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Västerås: Mälardalen University , 2011.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 142
National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
URN: urn:nbn:se:mdh:diva-12996ISBN: 978-91-7485-035-2 (print)OAI: oai:DiVA.org:mdh-12996DiVA: diva2:440864
Presentation
2011-09-26, Beta, 14:00 (English)
Opponent
Supervisors
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2013-12-03Bibliographically approved
List of papers
1. Two Camera System for Robot Applications; Navigation
Open this publication in new window or tab >>Two Camera System for Robot Applications; Navigation
2008 (English)In: 13th IEEE International Conference on Emerging Technologies and Factory Automation, 2008. (ETFA 2008), 2008, 345-352 p.Conference paper, Published paper (Refereed)
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.

National Category
Engineering and Technology
Identifiers
urn:nbn:se:mdh:diva-7254 (URN)10.1109/ETFA.2008.4638417 (DOI)2-s2.0-56349088961 (Scopus ID)1424415063 (ISBN)
Conference
13th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2008; Hamburg; Germany; 15 September 2008 through 18 September 2008
Available from: 2009-09-25 Created: 2009-09-25 Last updated: 2014-01-10Bibliographically approved
2. Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Open this publication in new window or tab >>Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
Show others...
2011 (English)In: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011, 465-469 p.Conference paper, Published paper (Refereed)
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.

National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-13006 (URN)10.1109/ICARA.2011.6144928 (DOI)2-s2.0-84857402371 (Scopus ID)978-145770328-7 (ISBN)
Conference
5th International Conference on Automation, Robotics and Applications, Wellington, December 6-8, 2011
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2013-12-19Bibliographically approved
3. Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Open this publication in new window or tab >>Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
Show others...
2012 (English)In: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2, 2012, 415-418 p.Conference paper, Published paper (Other academic)
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.

National Category
Robotics Embedded Systems
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-13007 (URN)9789898565044 (ISBN)
Conference
International Conference on Computer Vision Theory and Applications, VISAPP 2012; Rome; 24 February 2012
Available from: 2011-09-14 Created: 2011-09-14 Last updated: 2015-01-09Bibliographically approved

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