FPGA implementation of the robust essential matrix estimation with RANSAC and the 8-point and the 5-point method

Authors:
Michał Fularz;Marek Kraft;Adam Schmidt;Andrzej Kasiński
Affiliations:
Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland;Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland;Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland;Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland
Venue:
Facing the Multicore-Challenge II
Year:
2012

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Abstract

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 are given. Performance and resource use depending on the chosen method and the number of processing cores are also given.