1000 fps visual servoing on the reconfigurable wide SIMD processor

Y. He, Z. Ye, D. She, R.S. Pieters, B. Mesman, H. Corporaal

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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Samenvatting

Visual servoing has been proven to obtain better performance than encoders at comparable cost. However, the often computationally intensive vision algorithms and the ever growing demands for higher frame rate make its realization very challenging. This paper demonstrated the feasibility of achieving high frame-rate visual servoing applications on the wide Single-Instruction-Multiple-Data (SIMD) processors. An industrial application, Organic-Light-Emitting-Diode (OLED) substrate localization, is chosen as a typical example. Firstly, we proposed an improved vision pipeline for repetitive structure localization, which is more robust, and also more friendly to embedded processors and FPGA/ASIC realization. Then, a highly-efficient SIMD processor for vision servoing is also proposed. The number of processing elements (PEs) in this proposed SIMD processor is dynamically reconfigurable, which (i) enables efficient processing for different vector lengths; (ii) can easily adjust to the various performance requirements; and (iii) saves energy consumption. For input frames of 120 x 45 resolution, the proposed vision pipeline can process a frame within 275 mus, sufficient to meet the throughput requirement of 1000 fps with a latency of less than 1 ms for the whole vision servoing system. Compared to the reference realization on MicroBlaze, the proposed SIMD processor achieves a 18x performance improvement.
Originele taal-2Engels
TitelProceedings of the 16th Annual Conference of the Advanced School for Computing and Imgaging 2010 (ASCI 2010), 1-3 November 2010, Veldhoven, The Netherlands
RedacteurenT. Kielmann, M.J. Kreveld, van, W.J. Niessen
Aantal pagina's8
StatusGepubliceerd - 2010
Evenement16th Annual Conference of the Advanced School for Computing and Imaging (ASCI 2010), June 1-3, 2010, Veldhoven, The Netherlands - Veldhoven, Nederland
Duur: 1 jun 20103 jun 2010

Congres

Congres16th Annual Conference of the Advanced School for Computing and Imaging (ASCI 2010), June 1-3, 2010, Veldhoven, The Netherlands
Verkorte titelASCI 2010
Land/RegioNederland
StadVeldhoven
Periode1/06/103/06/10

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