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

Content Provider	IEEE Xplore Digital Library
Author	Irwansyah, A. Ibraheem, O.W. Hagemeyer, J. Porrmann, M. Rueckert, U.
Copyright Year	2015
Description	Author affiliation: Cognitronics & Sensor Syst. Group, Bielefeld Univ., Bielefeld, Germany (Irwansyah, A.; Ibraheem, O.W.; Hagemeyer, J.; Porrmann, M.; Rueckert, U.)
Abstract	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.
Starting Page	1
Ending Page	8
File Size	14823492
Page Count	8
File Format	PDF
e-ISBN	9781467394062
DOI	10.1109/ReConFig.2015.7393313
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-12-07
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Object detection and recognition Image processing Reconfigurable architectures Multi-robot systems Circular Hough Transform
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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