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ORB (Oriented FAST and Rotated BRIEF) feature extraction is popular in embedded vision applications like visual navigation due to its higher speed and robustness in many situations. However, feature description in ORB still accesses large amounts of image patches especially when an image pyramid is built. In order to reduce internal memory cost as well as maintain low latency processing, we design...
Scale Invariant Feature Transform (SIFT) has drawn attention in the field of computer vision, recently. SIFT has been adopted in many visual localization and mapping applications, for its robustness to scale, rotation and illumination changes. However, the high computational cost limits its use in practical scenarios. In this paper, we present a real-time FPGA-based hardware accelerator of SIFT. The...
This paper provides a real-time plane segmentation method which can be used in navigation systems for the visually impaired to avoid indoor obstacles. The proposed method is based on surface normal estimation in range images. Efficiency and overall accuracy are considered as two main challenges in plane segmentation algorithms which use depth information. Our method exploits integral images to enhance...
As are widely used in military and security fields, multiple channels of low-bit-rate vocoders are required to perform on embedded devices efficiently. We propose HAVA, a multicore Application Specific Instruction Set Processor for multichannel low-bit-rate vocoders with real-time performance. To provide both flexibility and efficiency, HAVA integrates two types of processing cores and a shared-memory...
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