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On FPGA Based Acceleration of Image Processing in Mobile Robotics

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00236926" target="_blank" >RIV/68407700:21230/15:00236926 - isvavai.cz</a>

  • Result on the web

    <a href="https://ojs.cvut.cz/ojs/index.php/APP/article/view/APP.2015.1.0008" target="_blank" >https://ojs.cvut.cz/ojs/index.php/APP/article/view/APP.2015.1.0008</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.14311/APP.2015.1.0008" target="_blank" >10.14311/APP.2015.1.0008</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    On FPGA Based Acceleration of Image Processing in Mobile Robotics

  • Original language description

    In visual navigation tasks, a lack of the computational resources is one of the main limitations of micro robotic platforms to be deployed in autonomous missions. It is because the most of nowadays techniques of visual navigation relies on a detection ofsalient points that is computationally very demanding. In this paper, an FPGA assisted acceleration of image processing is considered to overcome limitations of computational resources available on-board and to enable high processing speeds while it maylower the power consumption of the system. The paper reports on performance evaluation of the CPU-based and FPGA-based implementations of a visual teach-and-repeat navigation system based on detection and tracking of the FAST image salient points. The results indicate that even a computationally efficient FAST algorithm can benefit from a parallel (low-cost) FPGA-based implementation that has a competitive processing time but more importantly it is a more power efficient.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JC - Computer hardware and software

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2015

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    ACTA POLYTECHNICA CTU PROCEEDINGS: PAIR'15 Student Conferences on Planning in Artificial Intelligence and Robotics

  • ISBN

  • ISSN

    2336-5382

  • e-ISSN

  • Number of pages

    7

  • Pages from-to

    8-14

  • Publisher name

    ČVUT

  • Place of publication

    Praha

  • Event location

    Písek

  • Event date

    Sep 7, 2015

  • Type of event by nationality

    EUR - Evropská akce

  • UT code for WoS article