HW/SW Co-design and FPGA Acceleration of a Feature-Based Visual Odometry

Chiang Heng Chien, Chiang Ju Chien, Chen Chien Hsu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the field of visual odometry (VO) or SLAM, deriving camera poses from image features is the basic issue. Even though feature-based VO or SLAM are more efficient than non-feature-based methods, they are still unfortunately computationally demanding. This paper addresses the concerns of computational efficiency, computational resources and power-consumption problem of a VO algorithm by designing a hardware-software (HW/SW) co-design architecture for the implementation on a field-programmable gate array (FPGA) and a Nios II CPU. Given images from Nios II, features are extracted and matched by SIFT and linear exhausted search (LES) algorithms via hardware. The design of LES module is improved so that the speed is accelerated compared to our previous work. Subsequently, camera poses are estimated using an ICP algorithm, where the derivation of nearest orthogonal matrix is achieved by integrating Denman-Beavers (DB) approach and Taylor approximation method. As such, the required hardware resources are lesser. After hardware computations, the results are then transferred back to Nios II. To show the effectiveness of the proposed approach, experiments using KITTI dataset are conducted. The results show that, taking the advantages of efficient computation of hardware, the computational time is greatly reduced, compared to a full-software implementation. Moreover, usage of hardware resources are also lesser than existing methods.

Original languageEnglish
Title of host publication2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages148-152
Number of pages5
ISBN (Electronic)9781728147406
DOIs
Publication statusPublished - 2019 Nov
Event4th International Conference on Robotics and Automation Engineering, ICRAE 2019 - Singapore, Singapore
Duration: 2019 Nov 222019 Nov 24

Publication series

Name2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019

Conference

Conference4th International Conference on Robotics and Automation Engineering, ICRAE 2019
CountrySingapore
CitySingapore
Period19/11/2219/11/24

Keywords

  • FPGA
  • HW/SW Co-design
  • Nios
  • feature extraction and matching
  • visual odometry

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

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  • Cite this

    Chien, C. H., Chien, C. J., & Hsu, C. C. (2019). HW/SW Co-design and FPGA Acceleration of a Feature-Based Visual Odometry. In 2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019 (pp. 148-152). [9043811] (2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE48301.2019.9043811