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Robust and video-frame rate tracking of planar motion by matched filtering on FPGA

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2 Author(s)
Yamamoto, S. ; Glory Ltd., Hyogo, Japan ; Hirai, S.

We describe the implementation of a vision algorithm based on matched filtering on an FPGA. Detection of a reference image in an input image must be performed in real-time and robustly against occlusion and change of illumination. Vision algorithm based on matched filtering can perform the detection robustly but requires much computation time since it includes 2D FFT/IFFT and polar transform. In this article, we implement the algorithm on an FPGA so that the detection is performed in real-time and robustly.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004