FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking

Irwansyah A, Ibraheem OW, Hagemeyer J, Porrmann M, Rückert U (2015)
In: 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig). Hübner M, Gokhale M, Cumplido R (Eds); Piscataway, NJ: IEEE: 1-8.

Konferenzbeitrag | Veröffentlicht | Englisch
 
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Herausgeber*in
Hübner, Michael; Gokhale, Maya; Cumplido, René
Abstract / Bemerkung
Shape-based object detection and recognition are frequently used methods in the field of computer vision. A well-known algorithm for circle detection is the Circular Hough Transform (CHT). This Hough Transform algorithm needs a huge memory space and large computational resources. Field Programmable Gate Array (FPGA)-based hardware accelerators can be used to efficiently handle such compute-intensive applications. In this paper, we present a resource-efficient FPGA-based architecture for the CHT algorithm. Additionally, we introduce a unique approach by combining the CHT algorithm with graph clustering. The combination of these algorithms and their implementation on a Xilinx Virtex-4 FPGA is used to support real-time vision-based multi-robot tracking. Furthermore, an efficient architecture is proposed to significantly reduce the required memory in the CHT module. For the Graph Clustering module, a multiplier-less distance calculation unit is implemented, significantly reducing the required FPGA resources. The proposed CHT design can handle multi-robot localization with an accuracy of 97 %, supporting a maximum video resolution of 1024x1024 with 128 frames per second, resulting in 134 MPixel/s. Our design provides significantly higher throughput compared to other implementations on embedded processors, FPGAs, and general purpose CPUs. Compared to an OpenCV implementation on a 3.2 GHz desktop CPU, our implementation achieves a speed-up of more than 5.7.
Stichworte
Circular Hough Transform
Erscheinungsjahr
2015
Titel des Konferenzbandes
2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig)
Seite(n)
1-8
Konferenz
International Conference on ReConFigurable Computing and FPGAs (ReConFig)
Konferenzort
Riviera Maya, Mexico
Konferenzdatum
2015-12-07 – 2015-12-09
eISBN
978-1-4673-9406-2
Page URI
https://pub.uni-bielefeld.de/record/2901108

Zitieren

Irwansyah A, Ibraheem OW, Hagemeyer J, Porrmann M, Rückert U. FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking. In: Hübner M, Gokhale M, Cumplido R, eds. 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig). Piscataway, NJ: IEEE; 2015: 1-8.
Irwansyah, A., Ibraheem, O. W., Hagemeyer, J., Porrmann, M., & Rückert, U. (2015). FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking. In M. Hübner, M. Gokhale, & R. Cumplido (Eds.), 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig) (pp. 1-8). Piscataway, NJ: IEEE. doi:10.1109/ReConFig.2015.7393313
Irwansyah, A., Ibraheem, O. W., Hagemeyer, J., Porrmann, M., and Rückert, U. (2015). “FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking” in 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig), Hübner, M., Gokhale, M., and Cumplido, R. eds. (Piscataway, NJ: IEEE), 1-8.
Irwansyah, A., et al., 2015. FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking. In M. Hübner, M. Gokhale, & R. Cumplido, eds. 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig). Piscataway, NJ: IEEE, pp. 1-8.
A. Irwansyah, et al., “FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking”, 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig), M. Hübner, M. Gokhale, and R. Cumplido, eds., Piscataway, NJ: IEEE, 2015, pp.1-8.
Irwansyah, A., Ibraheem, O.W., Hagemeyer, J., Porrmann, M., Rückert, U.: FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking. In: Hübner, M., Gokhale, M., and Cumplido, R. (eds.) 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig). p. 1-8. IEEE, Piscataway, NJ (2015).
Irwansyah, Arif, Ibraheem, Omar Waleed, Hagemeyer, Jens, Porrmann, Mario, and Rückert, Ulrich. “FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking”. 2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig). Ed. Michael Hübner, Maya Gokhale, and René Cumplido. Piscataway, NJ: IEEE, 2015. 1-8.

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