R3^3SGM: 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

Low power techniques for video compression

This paper gives an overview of low-power techniques proposed in the literature for mobile multimedia and Internet applications. Exploitable aspects are discussed in the behavior of different video compression tools. These power-efficient solutions are then classified by synthesis domain and level of abstraction. As this paper is meant to be a starting point for further research in the area, a lowpower hardware & software co-design methodology is outlined in the end as a possible scenario for video-codec-on-a-chip implementations on future mobile multimedia platforms

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

Image processing applications: From particle physics to society

We present an embedded system for extremely efficient real-time pattern recognition execution, enabling technological advancements with both scientific and social impact. It is a compact, fast, low consumption processing unit (PU) based on a combination of Field Programmable Gate Arrays (FPGAs) and the full custom associative memory chip. The PU has been developed for real time tracking in particle physics experiments, but delivers flexible features for potential application in a wide range of fields. It has been proposed to be used in accelerated pattern matching execution for Magnetic Resonance Fingerprinting (biomedical applications), in real time detection of space debris trails in astronomical images (space applications) and in brain emulation for image processing (cognitive image processing). We illustrate the potentiality of the PU for the new applications