Abstract
This paper presents a FPGA-based multiprocessor system for the essential matrix estimation from a set of point correspondences containing outliers. The estimation is performed using two methods: the 8-point and the 5-point algorithm, and complemented with robust estimation. The description of the architecture and the hardware-specific design considerations are given. Performance and resource use depending on the chosen method and the number of processing cores are also given.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Batra, D., Nabbe, B., Hebert, M.: An alternative formulation for five point relative pose problem. In: Proceedings of the IEEE Workshop on Motion and Video Computing, pp. 21–26. IEEE Computer Society Press, Washington, DC, USA (2007)
Cyganek, B., Siebert, J.: An Introduction to 3D Computer Vision Techniques and Algorithms. Wiley (2009)
Draper, B.A., Beveridge, J.R., Bohm, A.P.W., Ross, C., Chawathe, M.: Accelerated image processing on FPGAs. IEEE Transactions on Image Processing 12(12), 1543–1551 (2003)
Farrugia, N., Mamalet, F., Roux, S., Yang, F., Paindavoine, M.: Fast and robust face detection on a parallel optimized architecture implemented on FPGA. IEEE Transactions on Circuits and Systems for Video Technology 19(4), 597–602 (2009)
Fischler, M.A., Bolles, R.C.: Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Communications of the ACM 24(6), 381–395 (1981)
Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press (2004) ISBN: 0521540518
Jin, S., Cho, J., Pham, X.D., Lee, K.M., Park, S.K., Kim, M., Jeon, J.W.: FPGA design and implementation of a real-time stereo vision system. IEEE Transactions on Circuits and Systems for Video Technology 20(1), 15–26 (2010)
Kukelova, Z., Bujnak, M., Pajdla, T.: Polynomial eigenvalue solutions to the 5-pt and 6-pt relative pose problems. Proceedings of the British Machine Vision Conference (2008)
Li, H., Hartley, R.: Five-point motion estimation made easy. In: Proceedings of the 18th International Conference on Pattern Recognition, ICPR 2006, vol. 1, pp. 630–633. IEEE Computer Society Press, Washington, DC, USA (2006)
Nistér, D.: An efficient solution to the five-point relative pose problem. IEEE Transactions Pattern Analysis Machine Intelligence 26, 756–777 (2004)
Stewénius, H., Engels, C., Nistér, D.: Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing 60, 284–294 (2006)
Xilinx: Fast Simplex Link (FSL) Bus (v2.11c) Data Sheet (April 2010)
Xilinx Inc.: UG081 MicroBlaze Processor Reference Guide – Embedded Development Kit EDK 12.4, v11.4 edn. (November 2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Fularz, M., Kraft, M., Schmidt, A., Kasiński, A. (2012). FPGA Implementation of the Robust Essential Matrix Estimation with RANSAC and the 8-Point and the 5-Point Method. In: Keller, R., Kramer, D., Weiss, JP. (eds) Facing the Multicore - Challenge II. Lecture Notes in Computer Science, vol 7174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30397-5_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-30397-5_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-30396-8
Online ISBN: 978-3-642-30397-5
eBook Packages: Computer ScienceComputer Science (R0)