Successful establishing of point correspondences between consecutive image frames is important in tasks such as visual odometry, structure from motion or simultaneous localization and mapping. In this paper, we describe the architecture of the compact, energy-efficient dedicated hardware processors, enabling fast feature detection and matching .
This paper presents a FPGA-based multiprocessor system for the essential matrix estimation from a set of point correspondences containing outliers. The estimation is performed using two methods: the 8-point and the 5-point algorithm, and complemented with robust estimation. The description of the architecture and the hardware-specific design considerations… (More)
Real time video surveillance and inspection is complex task, requiring processing large amount of image data. Performing this task in each node of a multi-camera system requires high performance and power efficient architecture of the smart camera. Such solution, based on a Xilinx Zynq heterogeneous FPGA (Field Programmable Logic Array) is presented in this… (More)