FPGA implementation of Santos-Victor optical flow algorithm for real-time image processing: an useful attempt

摘要

A FPGA based hardware implementation ofthe Santos-Victor optical flow algorithm, useful in robot guidance applications, is described in this paper. The system used to do this task contains an ALTERA FPGA (20K100), an interface with a digital camera, three VRAM memories to contain the data input and some output memories (a VRAM and a EDO) to contain the results. The system have been used previously to develop and test other vision algorithms, such as image compression, optical flow calculation with differential and correlation methods. The designed system let connect the digital camera, or the FPGA output (results of algorithms) to a PC, throw its Firewire or USB port. The problems take place in this occasion have motivated to adopt another hardware structure for certain vision algorithms with special requirements, that need a very hard code intensive processing.