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Stereo matching systems that generate dense, accurate, robust and real-time disparity maps are quite attractive for a variety of applications. Most of the existing stereo matching systems that fulfill to all of these requirements adopt the Semi-Global Matching (SOM) technique. This work proposes a scalable architecture based on a systolic array, fully pipeline. The design builds on a combination of...
Simultaneous Localization and Mapping or SLAM, is a family of algorithms that solve the problem of estimating an observer's position in an unknown environment while generating a map of that environment. SLAM algorithms that produce high quality dense maps require powerful hardware platforms. In the simultaneous solution of these two problems, Localization, also known as Tracking, is the one that is...
Intraoperative thermographic imaging, associated with time-resolved data analysis, is used to identify and visualise functional areas and pathological tissue in brain surgery. In this contribution we propose a hardware-software system for real-time pre-processing, fusion, and analysis of concurrent infrared and whitelight recordings. As a proof-of-concept, a digital temporal filter is applied to the...
Laser triangulation applications are commonly used for industrial quality control. Such algorithms require real-time systems often made of a computing unit close to the image sensor through a short and fast link. Choosing a camera with integrated Field Programmable Gate Array (FPGA) as the computing unit can provide high pipeline and parallel computing adapted to process image in real-time. Moreover,...
The EU funded project RADIO brings forward a new health care paradigm according to which a mobile robot platform can act as assistant to an elderly person in his/her domestic environment. Under this context, unobtrusiveness is of paramount importance since the robot should be a natural participant of patients' daily life. However, robot assistance in everyday living still suffers from limited autonomy...
Today's cyber-physical systems (CPS) for the emerging Smart cities includes hardware and software with intelligent sensing and controls. In Smart cities, the use of high definition images, videos, and context information has become a requirement for urban street data collection and processing. Field Programmable Gate Array enabled data centers and processing shows the great potential for its high...
Time-of-Flight 3D imaging, using the indirect measuring method that employs photonic mixing devices, increases in popularity. This is due to the recent availability of accurate and miniaturized Time-of-Flight cameras that can be integrated into small embedded devices. However, providing a system comprising a camera and hardware-accelerated processing, which is useable for various application types...
The design of the system in this paper is based on ARM and FPGA platform, we use two CMOS cameras, collect image data in two directions (X direction and Y direction) vertically of the optical fiber, so ARM can obtain three-dimensional fiber welding image. The optical fiber image of two CMOS cameras is processed by ARM, is displayed in parallel by display device. The design of the new system can improve...
A FPGA-based embedded system development platform with dual-camera support, named MorFPGA Duo, is presented in this paper. The MorFPGA Duo platform adopts the modular design concept and is capable of a dual core employing the ARM Cortex A9, two channel SDI cameras with Full-HD resolution, versatile built-in peripherals and high expandability to satisfy users' eager needs for state-of-the-art research...
Real-time Stereo vision is an immerging technique inspired from human visual system that computes the disparity between correspondence points in multiple images captured from corresponding camera. High resolution images are necessary to provide good quality auto stereoscopic displays which can be used to produce stereo without the need of 3-D glasses. The aim of this paper is to calculate the disparity...
Human action recognition (HAR) is an important topic in computer vision having a wide range of applications: health care, assisted living, surveillance, security, gaming, etc. Despite significant amount of work having been conducted in this area in recent years, the execution speed still limits real-time applications. Moreover, it is highly desirable to have the compute-intensive feature extraction...
This paper describes part of project that implemented the image processing of a CMOS sensor for endoscopic purposes. The sensor is a small sized device of 1×1mm2 and the image processing has been done inside a FPGA. This part of the work describes the implementation of the Gamma function with a balance between the resources needed and the accuracy. A linear piecewise solution was used that stores...
A dual-core FPGA-based embedded system development platform named MorFPGA Duo is presented in this paper. The MorFPGA Duo platform adopts the modular design concept and is capable of a dual core employing the ARM Cortex A9, two channel SDI cameras with Full-HD resolution, versatile built-in peripherals and high expandability to satisfy users' eager needs for state-of-the-art research topics. This...
This live demonstration shows an FPGA-based real-time hand sign recognition system. The system consists of a feature vector extraction and a vector classifier. The SOM-Hebb classifier network is used for the classification network, which is made of a self-organizing map and a feed-forward neural network. Training of the SOM-Hebb classifier is carried out by an off-chip computer. In this demonstration,...
It requires a great deal of computation to compute real-time depth information through imaging technology. It would not meet the needs of real-time computing if software computations only performed by ARM embedded processor collocated with Embedded Linux operating system. This paper uses SoC FPGA from Altera Cyclone V series for the real-time Stereo Vision Capturing System. Through the integration...
This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the...
The present paper analyzes the use of an embedded system-on-a-chip (SoC) platform, integrating a multicore ARM processor with FPGA fabric in a single chip, as a stereo vision pre-processing module, used to retrieve depth information from the features to compose 3D landmark points. The Harris and Stephens corner detector is applied to an image pair acquired from a stereo camera setup using a hardware...
In this paper a system for real-time structure from motion computation is presented. The module is dedicated for a video based Advanced Driver Assistance System, where information about the surrounding environment and scene depth is often required to facilitate advanced applications. A heterogeneous System on a Chip solution, based on a FPGA device and an ARM processor is presented. The described...
This paper presents a hardware implementation of an image orthorectification process using the back-projection algorithm. Image orthorectification is integral to effective analysis and exploitation of aerial imagery and is often one of the largest processing bottlenecks. As imaging sensors grow in pixel count and associated target footprint, the image orthorectification process requires an associated...
In computer vision, the Harris corner feature detector is one of the most essential early steps in many useful applications such as 3-D reconstruction. However, if it is implemented in software, the resulting code is probably not able to be executed in real time under low cost mobile processors. This paper proposes an efficient hardware approach that offloads the repetitive feature extraction procedures...
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