Real-time SIFT-based Object Recognition System
Wang, Zhao; Xiao, Han; He, Wenhao; Wen, Feng; Yuan, Kui
2013-08
会议名称2013 IEEE International Conference on Mechatronics and Automation
会议录名称2013 IEEE International Conference on Mechatronics and Automation
会议日期Aug, 4-7, 2013
会议地点Takamatsu, Japan
摘要
In this paper a real-time object recognition system is realized, based on the Scale Invariant Feature Transform (SIFT) algorithm. The system mainly contains a display, a camera and an image acquisition and processing board developed by our research team. An FPGA chip and a DSP chip are embedded in the card as the major calculation units, which make real-time computation possible. The whole recognition algorithm is divided into three parts: the detection of SIFT keypoints, the extraction of SIFT descriptors and the final object recognition. In order to achieve real-time detection of SIFT keypoints through hardware computation on FPGA, the original SIFT algorithm is adapted to accommodate the parallel computation and pipelined structure of hardware. Using a mode of DSP invoking a customized FPGA module, a 72-dimensional keypoint descriptor is proposed to save memory space and to cut down the computing cost in keypoints matching. The recognition proceeds by matching individual features to a database of features from known objects using a fast approximate nearestneighbor search algorithm changed based on the k-d tree and the BBF algorithm. In addition, three matching strategies are adopted to discard the false matches so as to improve the accuracy of recognition. The object recognition functionality is mainly achieved in the DSP. A model database is built and used to test the accuracy and effectiveness of the system.
关键词Object Recognition Sift Keypoints Embedded System K-d Tree Bbf Algorithm
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12135
专题智能制造技术与系统研究中心_智能机器人
通讯作者Wang, Zhao
作者单位Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Wang, Zhao,Xiao, Han,He, Wenhao,et al. Real-time SIFT-based Object Recognition System[C],2013.
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