NDLI: Towards a smart camera for monocular SLAM

Please wait, while we are loading the content...

Three-dimensional Reconstruction of Heavily Occluded Pedestrians Using Integral Imaging

Very High Level Synthesis for image processing applications

Image Sensing Scheme Enabling Fully-Programmable Light Adaptation and Tone Mapping with a Single Exposure: Demo

3D-Sensing Distributed Embedded System for the Study of Human Kinetic Behavior: PhD Forum

Towards Improving the Detection Performance in Collaborative Visual Sensor Networks

Optimized HOG Descriptor for on Road Cars Detection

HDR image sensor with linear response and asynchronous detection of saturation: Demo

Tracking multi-object using tracklet and Faster R-CNN: PhD Forum

Design Exploration of a Multi-camera Dome for Sky Monitoring

Evaluation of Collaborative Video Surveillance Platform: Prototype Development of Abandoned Object Detection

Development and Demonstration of a LoRa TDOA-based Localisation System: Demo

WiseNET - smart camera network interacting with a semantic model: PhD Forum

Robot tracking in low-power visual sensor networks

Person Detection and Re-identification Across Multiple Images and Videos Obtained via Crowdsourcing

A Faster R-CNN Multi-Object Detector on a Nvidia Jetson TX1 Embedded System: Demo

Propagation of Quantification Error Over Convolutional Neural Network layers: PhD Forum

User-centric, embedded vision-based human monitoring: A concept and a healthcare use case

FPGA based hardware acceleration of a BRIEF correlator module for a monocular SLAM application

Tweeting Camera: A New Paradigm of Event-based Smart Sensing Device: Demo

Scene-Specific Pedestrian Detector Using Monte Carlo Framework and Faster R-CNN Deep Model: PhD Forum

Wireless Camera Nodes on a Cyber-Physical System

Multi-view Feature Fusion for Activity Classification

A Demonstration of Tracking using Dynamic Neural Fields on a Programmable Vision Chip: Demo

Task Clustering Approach to Optimize the Scheduling on a Partially Dynamically Reconfigurable FPGAs for image processing algorithms

Towards More Efficient Use of Office Space

Simulation of Parallel Processing for Distributed Multi-Target Tracking in Smart Camera Networks

Demo GPStudio: a toolchain for FPGA-based Smart Cameras: Demo Paper

Vision-Based Path Construction and Maintenance for Indoor Guidance of Autonomous Ground Vehicles Based on Collaborative Smart Cameras

Ant-Cam network: Demo

Architecture for Dynamic Allocation of Computer Vision Tasks

Prototyping a Panoptic Camera by means of High Level Synthesis: Demo

Mobile Food Recognition with an Extreme Deep Tree

Online Audiovisual Signature Training for Person Re-identification

A Holistic Approach for Optimizing DSP Block Utilization of a CNN implementation on FPGA

3D Cameras Benchmark for Human Tracking in Hybrid Distributed Smart Camera Networks

A Formal Algebra Implementation for Distributed Image and Video Stream Processing

3D-IC: New Perspectives for a Digital Pixel Sensor

3D Reconstruction with Low Resolution, Small Baseline and High Radial Distortion Stereo Images

Ant-Cams Network: a cooperative network model for silly cameras

Distributed coordination model for smart sensing applications

Real-time ghost free HDR video stream generation using weight adaptation based method

Attention-based smart-camera for spatial cognition

Towards a smart camera for monocular SLAM

Pixel-wise parameter adaptation for single-exposure extension of the image dynamic range

Event based visual attention with dynamic neural field on FPGA

A Neuromorphic Approach for Tracking using Dynamic Neural Fields on a Programmable Vision-chip

CAMEL: An Ultra-Low-Power VGA CMOS Imager based on a Time-Based DPS Array

Towards a smart camera for monocular SLAM

Content Provider	ACM Digital Library
Author	Aguilar-González, Abiel Arias-Estrada, Miguel
Abstract	In recent years the interest on monocular-SLAM (Simultaneous Localization and Mapping) has increased, this because nowadays it is possible to find inexpensive, small and light commercial cameras and they provide visual environmental information that can be exploited to create 3D maps and camera pose in an unknown environment. A smart camera that could deliver monocular-SLAM is highly desirable, since it can be the basis of several robotics/drone applications. In this article, we present a new SLAM framework that is robust enough for indoor/outdoor SLAM applications, and at the same time is parallelizable in the context of FPGA architecture design. We introduce new feature-extraction/feature-matching algorithms, suitable for FPGA implementation. We propose an FPGA based sensor-processor architecture where most of the visual processing is carried out in a parallel architecture, and the 3D map construction and camera pose estimation in the processor of a SoC FPGA. An FPGA architecture is lay down and hardware/software partition is discussed. We show that the proposed sensor-processor can deliver high performance under several indoor/outdoor scenarios.
Starting Page	128
Ending Page	135
Page Count	8
File Format	PDF
ISBN	9781450347860
DOI	10.1145/2967413.2967441
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2016-09-12
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Slam Fpga Soc
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Towards semantic slam using a monocular camera (2011)

FPGA based hardware acceleration of a BRIEF correlator module for a monocular SLAM application

Sliding window based landmark extraction for indoor 2D SLAM using forward-looking monocular camera

A FLEXIBLE SMART CAMERA SYSTEM BASED ON A PARTIALLY RECONFIGURABLE DYNAMIC FPGA-SOC

A Flexible Smart Camera System Based on a Partially Reconfigurable Dynamic Fpga-soc

The Application of Monocular Vision Camera Calibration and Feature Matching in SLAM

FPGA based hardware acceleration of a BRIEF correlator module for a monocular SLAM application

Smart camera SoC system for interactive real-time real-brush based digital painting systems

An image-to-map loop closing method for monocular slam (2008)

Towards a smart camera for monocular SLAM

Similar Documents

Towards semantic slam using a monocular camera (2011)

FPGA based hardware acceleration of a BRIEF correlator module for a monocular SLAM application

Sliding window based landmark extraction for indoor 2D SLAM using forward-looking monocular camera

A FLEXIBLE SMART CAMERA SYSTEM BASED ON A PARTIALLY RECONFIGURABLE DYNAMIC FPGA-SOC

A Flexible Smart Camera System Based on a Partially Reconfigurable Dynamic Fpga-soc

The Application of Monocular Vision Camera Calibration and Feature Matching in SLAM

FPGA based hardware acceleration of a BRIEF correlator module for a monocular SLAM application

Smart camera SoC system for interactive real-time real-brush based digital painting systems

An image-to-map loop closing method for monocular slam (2008)

Towards a smart camera for monocular SLAM