FPGA-Based Stereo Vision System Using Gradient Feature Correspondence

摘要

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/10.jpg"" width=""300"" /> Mobile robot with a stereo vision</div>This paper describes an autonomous mobile robot stereo vision system that uses gradient feature correspondence and local image feature computation on a field programmable gate array (FPGA). Among several studies on interest point detectors and descriptors for having a mobile robot navigate are the Harris operator and scale-invariant feature transform (SIFT). Most of these require heavy computation, however, and using them may burden some computers. Our purpose here is to present an interest point detector and a descriptor suitable for FPGA implementation. Results show that a detector using gradient variance inspection performs faster than SIFT or speeded-up robust features (SURF), and is more robust against illumination changes than any other method compared in this study. A descriptor with a hierarchical gradient structure has a simpler algorithm than SIFT and SURF descriptors, and the result of stereo matching achieves better performance than SIFT or SURF.