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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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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
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ISSN
2336-5382
e-ISSN
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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
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