FPGA-based Platform for Real-Time Stereo Vision

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FPGA-based Platform for Real-Time Stereo Vision

• Sergiy Zhelnakov, Pil Woo (Peter) Chun,
• Valeri Kirischian
• Supervisor Dr. Lev Kirischian
• Reconfigurable Embedded Systems Lab
• Ryerson University, Toronto, ON

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Motivation

• Areas of application
• Real-time Stereo-Vision Systems
• Telematic Systems Remote Control of Manipulators
  in Hazardous Areas
• Virtual Reality Systems and Simulators
• UAV Navigation Systems
• Telemedicine
• Surveillance / Security Systems

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Objectives

• Development of the Run-Time Reconfigurable
  Platform for implementation, testing and
  real-time verification of algorithms for
  stereo-vision stereo-image recognition, and
  visualization of 3D images
• Implementation and test of real-time stereo-video
  processing algorithms (e.g. Edge Detection in
  moving objects)

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Specification

• Functional specification
• The system performs image capture from two color
  cameras, stereo video visualization with shutter
  glasses, image processing (edge detection)
• Technical specification
• Input video data with
• spatial resolution 640 x 480 pixels
• frame rate 30 fps
• color, 8-bit resolution
• Output standard SVGA
• resolution 640 x 480 pixels
• frame rate not less than 60 fps

Fastest process 40nS per pixel output
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Platform Components and Links

Run-time Reconfigurable Multi-Stream Video
Processor
Stereo-Image Capturing Video Pre-processing
Module
Video Processing Module
Multi-Channel Post-processing Video-output Module
Shutter Glasses
CRT Monitor
LCD Projector
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Implemented Algorithms

• Color matching (Bayer pattern) at 2x30
  frames/sec and 640x480 resolution

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Implemented Algorithms

• Color matching

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Implemented Algorithms

• Edge detection (Robert Cross) background

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Implemented Algorithms

• Edge detection (Robert Cross)

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Platform Assembly and Implementation Results

• Implementation results
• Image capture and visualization on the FPGA based
  Reconfigurable Functional Unit (RFU) (1st stage -
  XCV50E 2nd - XC2V1000)
• Edge detection algorithm (Robert Cross)
  implemented

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Summary

• The Run-Time Reconfigurable Platform was
  developed for different Stereo-Vision
  applications.
• All components of the Platform were tested by
  implementation of real-time stereo-image capture,
  image processing and visualization on
  stereo-video output display system
• Perspectives of the platform development
  stereo-panoramic vision system