Representation of local geometry in the visual system
Biological Cybernetics
Computation of component image velocity from local phase information
International Journal of Computer Vision
On average power dissipation and random pattern testability of CMOS combinational logic networks
ICCAD '92 1992 IEEE/ACM international conference proceedings on Computer-aided design
Performance of optical flow techniques
International Journal of Computer Vision
Recursive Filters for Optical Flow
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust computation of optical flow in a multi-scale differential framework
International Journal of Computer Vision
Real-time quantized optimal flow
Real-Time Imaging - Special issue on computer vision motion analysis
Improved Accuracy in Gradient-Based Optical Flow Estimation
International Journal of Computer Vision
Accuracy vs efficiency trade-offs in optical flow algorithms
Computer Vision and Image Understanding
Reliable Estimation of Dense Optical Flow Fields with Large Displacements
International Journal of Computer Vision
Measurement of Image Velocity
Computer Vision and Image Understanding - Special issue on empirical evaluation of computer vision algorithms
Architectural differences of efficient sequential and parallel computers
Journal of Systems Architecture: the EUROMICRO Journal
Real-Time Implementation of an Optical Flow Algorithm
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 4 - Volume 4
Perturbation Analysis for Word-length Optimization
FCCM '03 Proceedings of the 11th Annual IEEE Symposium on Field-Programmable Custom Computing Machines
An embedded system for an eye-detection sensor
Computer Vision and Image Understanding - Special issue on eye detection and tracking
Hardware implementation of optical flow constraint equation using FPGAs
Computer Vision and Image Understanding
People detection and tracking using stereo vision and color
Image and Vision Computing
Robust real-time vision for a personal service robot
Computer Vision and Image Understanding
Vision-based motion estimation for interaction with mobile devices
Computer Vision and Image Understanding
High accuracy optical flow serves 3-d pose tracking: exploiting contour and flow based constraints
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
A Gaussian derivative-based transform
IEEE Transactions on Image Processing
Variational optical flow computation in real time
IEEE Transactions on Image Processing
Optical flow estimation using temporally oversampled video
IEEE Transactions on Image Processing
FPGA-based real-time optical-flow system
IEEE Transactions on Circuits and Systems for Video Technology
A phase-based approach to the estimation of the optical flow field using spatial filtering
IEEE Transactions on Neural Networks
Optimization strategies for high-performance computing of optical-flow in general-purpose processors
IEEE Transactions on Circuits and Systems for Video Technology
Multi-port abstraction layer for FPGA intensive memory exploitation applications
Journal of Systems Architecture: the EUROMICRO Journal
Fine grain pipeline architecture for high performance phase-based optical flow computation
Journal of Systems Architecture: the EUROMICRO Journal
On-chip ego-motion estimation based on optical flow
ARC'11 Proceedings of the 7th international conference on Reconfigurable computing: architectures, tools and applications
Hierarchical optical flow estimation architecture using color cues
ARC'11 Proceedings of the 7th international conference on Reconfigurable computing: architectures, tools and applications
A multi-resolution approach for massively-parallel hardware-friendly optical flow estimation
Journal of Visual Communication and Image Representation
Pipelined architecture for real-time cost-optimized extraction of visual primitives based on FPGAs
Digital Signal Processing
Parallel architecture for hierarchical optical flow estimation based on FPGA
IEEE Transactions on Very Large Scale Integration (VLSI) Systems
A low-cost 3D human interface device using GPU-based optical flow algorithms
Integrated Computer-Aided Engineering
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Optical-flow computation is a well-known technique and there are important fields in which the application of this visual modality commands high interest. Nevertheless, most real-world applications require real-time processing, an issue which has only recently been addressed. Most real-time systems described to date use basic models which limit their applicability to generic tasks, especially when fast motion is presented or when subpixel motion resolution is required. Therefore, instead of implementing a complex optical-flow approach, we describe here a very high-frame-rate optical-flow processing system. Recent advances in image sensor technology make it possible nowadays to use high-frame-rate sensors to properly sample fast motion (i.e. as a low-motion scene), which makes a gradient-based approach one of the best options in terms of accuracy and consumption of resources for any real-time implementation. Taking advantage of the regular data flow of this kind of algorithm, our approach implements a novel superpipelined, fully parallelized architecture for optical-flow processing. The system is fully working and is organized into more than 70 pipeline stages, which achieve a data throughput of one pixel per clock cycle. This computing scheme is well suited to FPGA technology and VLSI implementation. The developed customized DSP architecture is capable of processing up to 170 frames per second at a resolution of 800x600 pixels. We discuss the advantages of high-frame-rate processing and justify the optical-flow model chosen for the implementation. We analyze this architecture, measure the system resource requirements using FPGA devices and finally evaluate the system's performance and compare it with other approaches described in the literature.