FPGA-based real time extraction of visual features

Abstract

Over the past few years, a new category of sensor is emerging. It is named intelligent sensor or smart sensor. One type of this sensor is smart camera. This paper focuses on smart camera used in the field of robotics and more precisely in the extraction of features. Object tracking, autonomous navigation or 3D mapping are some application examples of feature extraction. We have selected interest points feature that can be detected by several algorithms. One of these algorithms is Harris & Stephen, that has a simple principle based on the calculations of multiples derivatives and gives acceptable results. The smart camera also contains an FPGA as a processing device which will be used for the implementation of Harris & Stephen algorithm. Other modules were also added to the system to deliver more appropriate results.