On-Board Detection and Matching of Feature Points
On-Board Detection and Matching of Feature Points
复制标题
特征点的机载检测与匹配
DOI：
10.3390/rs9060601
复制
发表时间：
2017-06-01
期刊：
影响因子：
5
通讯作者：
Zhou, Guoqing
中科院分区：
文献类型：
--
作者：
Huang, Jingjin;Zhou, Guoqing
本文提出了一种基于FPGA的特征点车载检测和匹配方法。通过所提出的方法，提出了并行处理模型和流水线结构，以确保在处理速度下的高帧速率，但具有低功耗。为了节省FPGA资源并提高处理速度，还提出了一种结合改进的SURF检测器和BRIEF描述符的模型。使用三对具有不同土地覆盖范围的图像来评估基于 FPGA 的实现的性能。实验结果表明：（1）当图像与人工特征（如建筑物、道路）配对时，基于FPGA实现的性能优于具有自然特征（如树林）的图像对； (2)所提出的基于FPGA的方法能够保证高帧率下的处理速度，例如在100MHz时钟频率下可以达到304fps的速度。所提出的实施方案的加速比使用基于 PC 的实施方案时高出约 27 倍。
This paper presents a FPGA-based method for on-board detection and matching of the feature points. With the proposed method, a parallel processing model and a pipeline structure are presented to ensure a high frame rate at processing speed, but with a low power consumption. To save the FPGA resources and increase the processing speed, a model which combines the modified SURF detector and a BRIEF descriptor, is presented as well. Three pairs of images with different land coverages are used to evaluate the performance of FPGA-based implementation. The experiment results demonstrate that (1) when the image pairs with artificial features (such as buildings and roads), the performance of FPGA-based implementation is better than those image pairs with natural features (such as woods); (2) the proposed FPGA-based method is capable of ensuring the processing speed at a high frame rate, such as the speed of can achieve 304 fps under a 100 MHz clock frequency. The speedup of the proposed implementation is about 27 times higher than that when using the PC-based implementation.