FPGA-based module for SURF extraction

We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots

Revisiting spatial vision: toward a unifying model

We report contrast detection, contrast increment, contrast masking, orientation discrimination, and spatial frequency discrimination thresholds for spatially localized stimuli at 4° of eccentricity. Our stimulus geometry emphasizes interactions among overlapping visual filters and differs from that used in previous threshold measurements, which also admits interactions among distant filters. We quantitatively account for all measurements by simulating a small population of overlapping visual filters interacting through divisive inhibition. We depart from previous models of this kind in the parameters of divisive inhibition and in using a statistically efficient decision stage based on Fisher information. The success of this unified account suggests that, contrary to Bowne [Vision Res. 30, 449 (1990)], spatial vision thresholds reflect a single level of processing, perhaps as early as primary visual cortex