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dc.contributor.authorAydoğdu, M. Fatih-
dc.contributor.authorDemirci, Muhammed Fatih-
dc.contributor.authorKasnakoğlu, Coşku-
dc.identifier.citationIEEE International Conference on Robotics and Biomimetics (ROBIO) -- DEC 12-14, 2013 -- Shenzhen, PEOPLES R CHINAen_US
dc.description.abstractWith 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.en_US
dc.relation.ispartof2013 IEEE International Conference On Robotics And Biomimetics (Robio)en_US
dc.subject[No Keywords]en_US
dc.titlePipelining Harris Corner Detection with a Tiny FPGA for a Mobile Roboten_US
dc.typeConference Objecten_US
dc.departmentFaculties, Faculty of Engineering, Department of Computer Engineeringen_US
dc.departmentFaculties, Faculty of Engineering, Department of Electrical and Electronics Engineeringen_US
dc.departmentFakülteler, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümütr_TR
dc.departmentFakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümütr_TR
dc.institutionauthorDemirci, Muhammed Fatih-
dc.institutionauthorKasnakoğlu, Coşku-
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.relation.conferenceIEEE International Conference on Robotics and Biomimetics (ROBIO)en_US
item.fulltextNo Fulltext-
item.openairetypeConference Object- Department of Computer Engineering- Department of Electrical and Electronics Engineering-
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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