Vision and navigation for the Carnegie-Mellon navlab
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
Obstacle avoidance and navigation in the real world by a seeing robot rover
Obstacle avoidance and navigation in the real world by a seeing robot rover
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
FPGA based Real-Time Visual Servoing
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 1 - Volume 01
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
FPGA implementation of a feature detection and tracking algorithm for real-time applications
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Fast and Efficient FPGA-Based Feature Detection Employing the SURF Algorithm
FCCM '10 Proceedings of the 2010 18th IEEE Annual International Symposium on Field-Programmable Custom Computing Machines
Simple yet stable bearing-only navigation
Journal of Field Robotics - Visual Mapping and Navigation Outdoors
PCA-SIFT: a more distinctive representation for local image descriptors
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
RECONFIG '10 Proceedings of the 2010 International Conference on Reconfigurable Computing and FPGAs
Object Recognition on a Chip: A Complete SURF-Based System on a Single FPGA
RECONFIG '11 Proceedings of the 2011 International Conference on Reconfigurable Computing and FPGAs
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Improving SIFT-Based object recognition for robot applications
ICIAP'05 Proceedings of the 13th international conference on Image Analysis and Processing
An on-board vision sensor system for small unmanned vehicle applications
Machine Vision and Applications
A Parallel Hardware Architecture for Scale and Rotation Invariant Feature Detection
IEEE Transactions on Circuits and Systems for Video Technology
SURF algorithm in FPGA: a novel architecture for high demanding industrial applications
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
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We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU-based solutions. Results show that the embedded module achieves comparable distinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots.