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

Chiang Heng Chien, Chiang Ju Chien, Chen Chien Hsu

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題2019 4th International Conference on Robotics and Automation Engineering, ICRAE 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面148-152
頁數5
ISBN(電子)9781728147406
DOIs
出版狀態已發佈 - 2019 十一月
事件4th International Conference on Robotics and Automation Engineering, ICRAE 2019 - Singapore, 新加坡
持續時間: 2019 十一月 222019 十一月 24

出版系列

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

會議

會議4th International Conference on Robotics and Automation Engineering, ICRAE 2019
國家/地區新加坡
城市Singapore
期間2019/11/222019/11/24

ASJC Scopus subject areas

  • 人工智慧
  • 控制與系統工程
  • 控制和優化

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