Real-time architecture on FPGA for obstacle detection using inverse perspective mapping

This paper presents an embedded architecture to implement in real time the Inverse Perspective Mapping (IPM) algorithm. The IPM algorithm allows a robot to detect obstacles under the hypothesis that the ground is flat, and the definition of an obstacle being anything that has a height above the ground. This algorithm is based on modifying the camera's angle of view to remove the perspective effect for the ground plane. The algorithm is implemented using co-design techniques and validated on a Stratix 3 FPGA. Several approaches proposed to develop an architecture devoted to this algorithm, are compared. Finally the proposed methodology can be extended to many cameras. The algorithm was fully tested for one camera and partially tested for 4 cameras.