ORB feature extraction and matching in hardware

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

6 Citations (Scopus)

Abstract

The ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) feature extractor is the state of the art in wide baseline matching with sparse image features for robotic vision. All previous implementations have employed general-purpose computing hardware, such as CPUs and GPUs. This work seeks to investigate the applicability of special-purpose computing hardware, in the form of Field-Programmable Gate Arrays (FPGAs), to the acceleration of this problem. FPGAs offer lower power consumption and higher frame rates than general hardware. A working implementation on an Altera Cyclone II (a low-cost FPGA suitable for development work, and available with a camera and screen interface) is described.
Original languageEnglish
Title of host publicationAustralasian Conference on Robotics and Automation, ACRA 2015
Subtitle of host publication2-4 December 2015; Canberra, Australia
EditorsRobert Mahony, Jonghyuk Kim, Hongdong Li
Place of PublicationCanberra ACT Australia
PublisherAustralian Robotics & Automation Association Inc
Pages61-70
Number of pages10
ISBN (Electronic)9780980740462
ISBN (Print)9781510819269
Publication statusPublished - 2015
EventAustralasian Conference on Robotics and Automation 2015 - Australian National University (ANU), Canberra, Australia
Duration: 2 Dec 20154 Dec 2015
http://www.araa.asn.au/conferences/acra-2015/

Conference

ConferenceAustralasian Conference on Robotics and Automation 2015
Abbreviated titleACRA 2015
CountryAustralia
CityCanberra
Period2/12/154/12/15
Internet address

Cite this

Weberruss, J., Kleeman, L., & Drummond, T. W. (2015). ORB feature extraction and matching in hardware. In R. Mahony, J. Kim, & H. Li (Eds.), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia (pp. 61-70). Canberra ACT Australia: Australian Robotics & Automation Association Inc.
Weberruss, Joshua ; Kleeman, Lindsay ; Drummond, Thomas William. / ORB feature extraction and matching in hardware. Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. editor / Robert Mahony ; Jonghyuk Kim ; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. pp. 61-70
@inproceedings{155422c95459410b89ecd778beb43367,
title = "ORB feature extraction and matching in hardware",
abstract = "The ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) feature extractor is the state of the art in wide baseline matching with sparse image features for robotic vision. All previous implementations have employed general-purpose computing hardware, such as CPUs and GPUs. This work seeks to investigate the applicability of special-purpose computing hardware, in the form of Field-Programmable Gate Arrays (FPGAs), to the acceleration of this problem. FPGAs offer lower power consumption and higher frame rates than general hardware. A working implementation on an Altera Cyclone II (a low-cost FPGA suitable for development work, and available with a camera and screen interface) is described.",
author = "Joshua Weberruss and Lindsay Kleeman and Drummond, {Thomas William}",
year = "2015",
language = "English",
isbn = "9781510819269",
pages = "61--70",
editor = "Robert Mahony and Jonghyuk Kim and Hongdong Li",
booktitle = "Australasian Conference on Robotics and Automation, ACRA 2015",
publisher = "Australian Robotics & Automation Association Inc",
address = "Australia",

}

Weberruss, J, Kleeman, L & Drummond, TW 2015, ORB feature extraction and matching in hardware. in R Mahony, J Kim & H Li (eds), Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Australian Robotics & Automation Association Inc, Canberra ACT Australia, pp. 61-70, Australasian Conference on Robotics and Automation 2015, Canberra, Australia, 2/12/15.

ORB feature extraction and matching in hardware. / Weberruss, Joshua; Kleeman, Lindsay; Drummond, Thomas William.

Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. ed. / Robert Mahony; Jonghyuk Kim; Hongdong Li. Canberra ACT Australia : Australian Robotics & Automation Association Inc, 2015. p. 61-70.

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

TY - GEN

T1 - ORB feature extraction and matching in hardware

AU - Weberruss, Joshua

AU - Kleeman, Lindsay

AU - Drummond, Thomas William

PY - 2015

Y1 - 2015

N2 - The ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) feature extractor is the state of the art in wide baseline matching with sparse image features for robotic vision. All previous implementations have employed general-purpose computing hardware, such as CPUs and GPUs. This work seeks to investigate the applicability of special-purpose computing hardware, in the form of Field-Programmable Gate Arrays (FPGAs), to the acceleration of this problem. FPGAs offer lower power consumption and higher frame rates than general hardware. A working implementation on an Altera Cyclone II (a low-cost FPGA suitable for development work, and available with a camera and screen interface) is described.

AB - The ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) feature extractor is the state of the art in wide baseline matching with sparse image features for robotic vision. All previous implementations have employed general-purpose computing hardware, such as CPUs and GPUs. This work seeks to investigate the applicability of special-purpose computing hardware, in the form of Field-Programmable Gate Arrays (FPGAs), to the acceleration of this problem. FPGAs offer lower power consumption and higher frame rates than general hardware. A working implementation on an Altera Cyclone II (a low-cost FPGA suitable for development work, and available with a camera and screen interface) is described.

UR - http://www.scopus.com/inward/record.url?scp=85021053417&partnerID=8YFLogxK

UR - https://ssl.linklings.net/conferences/acra/acra2015_proceedings/views/includes/files/pap150.pdf

M3 - Conference Paper

SN - 9781510819269

SP - 61

EP - 70

BT - Australasian Conference on Robotics and Automation, ACRA 2015

A2 - Mahony, Robert

A2 - Kim, Jonghyuk

A2 - Li, Hongdong

PB - Australian Robotics & Automation Association Inc

CY - Canberra ACT Australia

ER -

Weberruss J, Kleeman L, Drummond TW. ORB feature extraction and matching in hardware. In Mahony R, Kim J, Li H, editors, Australasian Conference on Robotics and Automation, ACRA 2015: 2-4 December 2015; Canberra, Australia. Canberra ACT Australia: Australian Robotics & Automation Association Inc. 2015. p. 61-70