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Title: Pipelining Harris Corner Detection with a Tiny FPGA for a Mobile Robot
Authors: Aydoğdu, M. Fatih
Demirci, Muhammed Fatih
Kasnakoğlu, Coşku
Keywords: [No Keywords]
Issue Date: 2013
Publisher: IEEE
Source: IEEE International Conference on Robotics and Biomimetics (ROBIO) -- DEC 12-14, 2013 -- Shenzhen, PEOPLES R CHINA
Abstract: With their parallelizable inner structures, field programmable gate array (FPGA) are increasing their popularity in today's embedded systems. In this paper, we present an implemented, unique and pipelined FPGA architecture designed with Verilog HDL to be used on a mobile robot for detecting corners in colored stereo images using Harris corner detection (HCD) algorithm in real time. The architecture consists of 3 pipelined modules and processes RGB555 formatted images in 640x480 resolution. The design is implemented on Xilinx's ML501 board having a XC5VLX50 FPGA, one of the smallest FPGAs of Virtex-5 series. Raw and processed data are stored into a single DDR2 memory of Micron, MT4HTF3264HY on the board, allowing only a single read or write operation at a time. By using less than 75% of FPGA resources and a 100MHz system clock, we achieved a corner detection rate of 0.33 pixels per clock cycle (ppcc) corresponding to a corner detection frequency of 54Hz for the stereo images.
Appears in Collections:Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering
Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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