4,878 research outputs found
Time-Shared Execution of Realtime Computer Vision Pipelines by Dynamic Partial Reconfiguration
This paper presents an FPGA runtime framework that demonstrates the
feasibility of using dynamic partial reconfiguration (DPR) for time-sharing an
FPGA by multiple realtime computer vision pipelines. The presented time-sharing
runtime framework manages an FPGA fabric that can be round-robin time-shared by
different pipelines at the time scale of individual frames. In this new
use-case, the challenge is to achieve useful performance despite high
reconfiguration time. The paper describes the basic runtime support as well as
four optimizations necessary to achieve realtime performance given the
limitations of DPR on today's FPGAs. The paper provides a characterization of a
working runtime framework prototype on a Xilinx ZC706 development board. The
paper also reports the performance of realtime computer vision pipelines when
time-shared
Real-Time Dense Stereo Matching With ELAS on FPGA Accelerated Embedded Devices
For many applications in low-power real-time robotics, stereo cameras are the
sensors of choice for depth perception as they are typically cheaper and more
versatile than their active counterparts. Their biggest drawback, however, is
that they do not directly sense depth maps; instead, these must be estimated
through data-intensive processes. Therefore, appropriate algorithm selection
plays an important role in achieving the desired performance characteristics.
Motivated by applications in space and mobile robotics, we implement and
evaluate a FPGA-accelerated adaptation of the ELAS algorithm. Despite offering
one of the best trade-offs between efficiency and accuracy, ELAS has only been
shown to run at 1.5-3 fps on a high-end CPU. Our system preserves all
intriguing properties of the original algorithm, such as the slanted plane
priors, but can achieve a frame rate of 47fps whilst consuming under 4W of
power. Unlike previous FPGA based designs, we take advantage of both components
on the CPU/FPGA System-on-Chip to showcase the strategy necessary to accelerate
more complex and computationally diverse algorithms for such low power,
real-time systems.Comment: 8 pages, 7 figures, 2 table
Hardware Based Projection onto The Parity Polytope and Probability Simplex
This paper is concerned with the adaptation to hardware of methods for
Euclidean norm projections onto the parity polytope and probability simplex. We
first refine recent efforts to develop efficient methods of projection onto the
parity polytope. Our resulting algorithm can be configured to have either
average computational complexity or worst case
complexity on a serial processor where
is the dimension of projection space. We show how to adapt our projection
routine to hardware. Our projection method uses a sub-routine that involves
another Euclidean projection; onto the probability simplex. We therefore
explain how to adapt to hardware a well know simplex projection algorithm. The
hardware implementations of both projection algorithms achieve area scalings of
at a delay of
. Finally, we present numerical results in
which we evaluate the fixed-point accuracy and resource scaling of these
algorithms when targeting a modern FPGA
Hiding State in CλaSH Hardware Descriptions
Synchronous hardware can be modelled as a mapping from input and state to output and a new state, such mappings are referred to as transition functions. It is natural to use a functional language to implement transition functions. The CaSH compiler is capable of translating transition functions to VHDL. Modelling hardware using multiple components is convenient. Components in CaSH can be considered as instantiations of functions. To avoid packing and unpacking state when composing components, functions are lifted to arrows. By using arrows the chance of making errors will decrease as it is not required to manually (un)pack the state. Furthermore, the Haskell do-syntax for arrows increases the readability of hardware designs. This is demonstrated using a realistic example of a circuit which consists of multiple components
Channel Sounding for the Masses: Low Complexity GNU 802.11b Channel Impulse Response Estimation
New techniques in cross-layer wireless networks are building demand for
ubiquitous channel sounding, that is, the capability to measure channel impulse
response (CIR) with any standard wireless network and node. Towards that goal,
we present a software-defined IEEE 802.11b receiver and CIR estimation system
with little additional computational complexity compared to 802.11b reception
alone. The system implementation, using the universal software radio peripheral
(USRP) and GNU Radio, is described and compared to previous work. By overcoming
computational limitations and performing direct-sequence spread-spectrum
(DS-SS) matched filtering on the USRP, we enable high-quality yet inexpensive
CIR estimation. We validate the channel sounder and present a drive test
campaign which measures hundreds of channels between WiFi access points and an
in-vehicle receiver in urban and suburban areas
PGPG: An Automatic Generator of Pipeline Design for Programmable GRAPE Systems
We have developed PGPG (Pipeline Generator for Programmable GRAPE), a
software which generates the low-level design of the pipeline processor and
communication software for FPGA-based computing engines (FBCEs). An FBCE
typically consists of one or multiple FPGA (Field-Programmable Gate Array)
chips and local memory. Here, the term "Field-Programmable" means that one can
rewrite the logic implemented to the chip after the hardware is completed, and
therefore a single FBCE can be used for calculation of various functions, for
example pipeline processors for gravity, SPH interaction, or image processing.
The main problem with FBCEs is that the user need to develop the detailed
hardware design for the processor to be implemented to FPGA chips. In addition,
she or he has to write the control logic for the processor, communication and
data conversion library on the host processor, and application program which
uses the developed processor. These require detailed knowledge of hardware
design, a hardware description language such as VHDL, the operating system and
the application, and amount of human work is huge. A relatively simple design
would require 1 person-year or more. The PGPG software generates all necessary
design descriptions, except for the application software itself, from a
high-level design description of the pipeline processor in the PGPG language.
The PGPG language is a simple language, specialized to the description of
pipeline processors. Thus, the design of pipeline processor in PGPG language is
much easier than the traditional design. For real applications such as the
pipeline for gravitational interaction, the pipeline processor generated by
PGPG achieved the performance similar to that of hand-written code. In this
paper we present a detailed description of PGPG version 1.0.Comment: 24 pages, 6 figures, accepted PASJ 2005 July 2
RSGM: Real-time Raster-Respecting Semi-Global Matching for Power-Constrained Systems
Stereo depth estimation is used for many computer vision applications. Though
many popular methods strive solely for depth quality, for real-time mobile
applications (e.g. prosthetic glasses or micro-UAVs), speed and power
efficiency are equally, if not more, important. Many real-world systems rely on
Semi-Global Matching (SGM) to achieve a good accuracy vs. speed balance, but
power efficiency is hard to achieve with conventional hardware, making the use
of embedded devices such as FPGAs attractive for low-power applications.
However, the full SGM algorithm is ill-suited to deployment on FPGAs, and so
most FPGA variants of it are partial, at the expense of accuracy. In a non-FPGA
context, the accuracy of SGM has been improved by More Global Matching (MGM),
which also helps tackle the streaking artifacts that afflict SGM. In this
paper, we propose a novel, resource-efficient method that is inspired by MGM's
techniques for improving depth quality, but which can be implemented to run in
real time on a low-power FPGA. Through evaluation on multiple datasets (KITTI
and Middlebury), we show that in comparison to other real-time capable stereo
approaches, we can achieve a state-of-the-art balance between accuracy, power
efficiency and speed, making our approach highly desirable for use in real-time
systems with limited power.Comment: Accepted in FPT 2018 as Oral presentation, 8 pages, 6 figures, 4
table
- …