DocumentCode :
138654
Title :
Real-time and low latency embedded computer vision hardware based on a combination of FPGA and mobile CPU
Author :
Honegger, Dominik ; Oleynikova, Helen ; Pollefeys, Marc
Author_Institution :
Comput. Sci. Dept., Inst. for Visual Comput., Comput. Vision & Geometry Group, ETH Zurich, Zürich, Switzerland
fYear :
2014
fDate :
14-18 Sept. 2014
Firstpage :
4930
Lastpage :
4935
Abstract :
Recent developments in smartphones create an ideal platform for robotics and computer vision applications: they are small, powerful, embedded devices with low-power mobile CPUs. However, though the computational power of smartphones has increased substantially in recent years, they are still not capable of performing intense computer vision tasks in real time, at high frame rates and low latency. We present a combination of FPGA and mobile CPU to overcome the computational and latency limitations of mobile CPUs alone. With the FPGA as an additional layer between the image sensor and CPU, the system is capable of accelerating computer vision algorithms to real-time performance. Low latency calculation allows for direct usage within control loops of mobile robots. A stereo camera setup with disparity estimation based on the semi global matching algorithm is implemented as an accelerated example application. The system calculates dense disparity images with 752×480 pixels resolution at 60 frames per second. The overall latency of the disparity estimation is less than 2 milliseconds. The system is suitable for any mobile robot application due to its light weight and low power consumption.
Keywords :
computer vision; control engineering computing; embedded systems; field programmable gate arrays; image matching; image sensors; mobile computing; mobile robots; FPGA; dense disparity images; disparity estimation; image sensor; low latency embedded computer vision hardware; low-power mobile CPUs; mobile robot control loops; real-time embedded computer vision hardware; semiglobal matching algorithm; smartphones; stereo camera setup; Cameras; Estimation; Field programmable gate arrays; Image sensors; Mobile communication; Real-time systems; Streaming media;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
Type :
conf
DOI :
10.1109/IROS.2014.6943263
Filename :
6943263
Link To Document :
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