Robust feature extraction algorithm suitable for real-time embedded applications

Abiel Aguilar-González (1, 2) , Miguel Arias-Estrada (2) , François Berry (1)

1 IP - Institut Pascal
2 Coordinación de Ciencias Computacionales [INAOE]

Smart cameras integrate processing close to the image sensor, so they can deliver high-level information to a host computer or high-level decision process. One of the most common processing is the visual features extraction since many vision-based use-cases are based on such algorithm. Unfortunately, in most of cases, features detection algorithms are not robust or do not reach real-time processing. Based on these limitations, a feature detection algorithm that is robust enough to deliver robust features under any type of indoor / outdoor scenarios is proposed. This was achieved by applying a non-textured corner filter combined to a subpixel refinement. Furthermore, an FPGA architecture is proposed. This architecture allows compact system design, real-time processing for Full HD images (it can process up to 44 frames/91.238.400 pixels per second for Full HD images), and high efficiency for smart camera implementations (similar hardware resources than previous formulations without subpixel refinement and without non-textured corner filter). For accuracy/robustness, experimental results for several real world scenes are encouraging and show the feasibility of our algorithmic approach .

Domaines: Architectures Matérielles [cs.AR]; Vision par ordinateur et reconnaissance de formes [cs.CV]

Abiel Aguilar-González, Miguel Arias-Estrada, François Berry. Robust feature extraction algorithm suitable for real-time embedded applications. Journal of Real-Time Image Processing, 2017, ⟨10.1007/s11554-017-0701-8⟩. ⟨hal-01627719⟩