harris corner detector on fpga rohit banerjee jared choi 15-418: parallel computer architecture and...
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Harris Corner Detector on FPGA Rohit BanerjeeJared Choi
15-418: Parallel Computer Architecture and Programming
Introduction to the problem
Corner detection
Corner Detection
• Corners provide a lot of information
• Spending time to detect corners can significant reduce computation time* Image matching* Motion tracking* Robot Navigation
Application Specific Need
Pixel Stream
OutputCORNERDETECT
OR
• Want to be able to process images in real time.
• Corner detection is very memory intensive.
• CPU cannot process data fast enough because it had to store data to DRAM first.
Exploit arbitrary hardware parallelism to process more within the given time window
Harris Detector Basic Idea
Hardware Implementation
Processing Pipeline
Processing Pipeline
Grayscale
Processing Pipeline
Processing Pipeline
Sobel Filter
2D convolution
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
Convolution Buffer
After a while……
Convolution Buffer
This column is ready to be processed
0
1
N-2
N-1
Convolution Buffer
0
1
N-2
N-1
Convolution Buffer
0
1
N-2
N-1
Processing Pipeline
Processing Pipeline
Gaussian Filter
Processing Pipeline
Processing Pipeline
Harris Response
Harris Input
∑Gadxdx
∑Gadydy∑Gadxdy
∑Gadxdy
=Sxx
Sxy
Sxy
Syy
Harris Response
Results
OpenCV parallel software implementation SystemVerilog(50MHz)0
2
4
6
8
10
12
14
16
18
20
Execution Time for Different platforms
Platform
Executi
on t
ime/m
s
Platform Execution Time/ms
Naïve Serial Implementation 351.20
OpenCV 18.12
SystemVerilog(50MHz) 1.31
Results
Speedup over serial implementation Speedup over OpenCV implementaion0.00
50.00
100.00
150.00
200.00
250.00
300.00
Speedup
Speedup
PlatformSpeedup of
FPGA Implementation
Naïve Serial Implementation 268.09
OpenCV 13.83
Results
Intel i3-4330 Cyclone IVE FPGA0.00
5.00
10.00
15.00
20.00
25.00
30.00
35.00
40.00
45.00
Energy Efficiency
Platform
Appro
x.
Pow
er
Consum
pti
on/W
Hardware Approx. Power Consumption/W
Intel i3-4330 42.00
Cyclone IVE FPGA 6.30
Thank you for your attention