FPGA implementation of the robust essential matrix estimation with RANSAC and the 8-point and the 5-point method

Michał Fularz; Marek Kraft; Adam Schmidt; Andrzej Kasiński

doi:10.1007/978-3-642-30397-5_6

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Title

FPGA implementation of the robust essential matrix estimation with RANSAC and the 8-point and the 5-point method

Authors

Michał Fularz (WE) ^{[ 1 ][ P ]}
Marek Kraft (WE) ^{[ 1 ][ P ]}
Adam Schmidt (WE) ^{[ 1 ][ P ]}
Andrzej Kasiński (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki, Robotyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2012

Chapter type

chapter in monograph

Publication language

english

Keywords

EN

FPGA
robust estimation
essential matrix
multicore

Abstract

EN 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.

Pages (from - to)

60 - 71

DOI

10.1007/978-3-642-30397-5_6

URL

https://link.springer.com/chapter/10.1007/978-3-642-30397-5_6

Book

Facing the Multicore - Challenge II : Aspects of New Paradigms and Technologies in Parallel Computing

System created by Poznań University of Technology and Poznan Supercomputing and Networking Center

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