Title :
A USB3.0 FPGA event-based filtering and tracking framework for dynamic vision sensors
Author :
Linares-Barranco, A. ; Gomez-Rodriguez, F. ; Villanueva, V. ; Longinotti, L. ; Delbruck, T.
Author_Institution :
Inst. of Neuro Inf., UZH-ETHZ, Zurich, Switzerland
Abstract :
Dynamic vision sensors (DVS) are frame-free sensors with an asynchronous variable-rate output that is ideal for hard real-time dynamic vision applications under power and latency constraints. Post-processing of the digital sensor output can reduce sensor noise, extract low level features, and track objects using simple algorithms that have previously been implemented in software. In this paper we present an FPGA-based framework for event-based processing that allows uncorrelated-event noise removal and real-time tracking of multiple objects, with dynamic capabilities to adapt itself to fast or slow and large or small objects. This framework uses a new hardware platform based on a Lattice FPGA which filters the sensor output and which then transmits the results through a super-speed Cypress FX3 USB microcontroller interface to a host computer. The packets of events and timestamps are transmitted to the host computer at rates of 10 Mega events per second. Experimental results are presented that demonstrate a low latency of 10us for tracking and computing the center of mass of a detected object.
Keywords :
field programmable gate arrays; filters; image sensors; microcontrollers; object tracking; USB3.0 FPGA event-based filtering; center of mass; dynamic vision sensors; multiple objects; real-time tracking; sensor output; super-speed Cypress FX3 USB microcontroller interface; tracking framework; uncorrelated-event noise removal; Computers; Field programmable gate arrays; Hardware; Retina; Sensors; Visualization; Voltage control;
Conference_Titel :
Circuits and Systems (ISCAS), 2015 IEEE International Symposium on
Conference_Location :
Lisbon
DOI :
10.1109/ISCAS.2015.7169172