Περίληψη:
A new architecture for the real-time detection of
scale-invariant features in image sequences is presented. The
system is based on a low-cost smart-camera custom board,
developed to target robotic vision applications. Several
optimizations of the SIFT detection procedure are proposed in
order to achieve robust keypoint detection with high repeatability
and recall values. As a result, a high accuracy and resourceefficient
implementation of the SIFT detector is presented. The
system is pipelined and streams pixel data using a 45 MHz clock,
allowing keypoint detection at 150 frames per second, in video
sequences with resolution 640x480. Integrating a commodity
CMOS sensor, the prototype system displays keypoints at video
rate, using only a fraction of the resources of a low-cost FPGA
device.
