Feature Extraction Using a Portable Vision System

Jianing Chen, Stephen Carey, Piotr Dudek

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We demonstrate high-speed low-power feature extraction implemented on a portable vision system based on the SCAMP-5 vision chip. This embedded system executes a parallelized FAST16 corner detection algorithm on the vision chip’s programmable on-focal-plane processor array to detect the corner points in the current image frame. The coordinates of these corner points are then extracted using the vision chip’s event address readout infrastructure. These coordinates, as sparse data, can then be output through any of the IO buses within the micro-controller in the vision system at low latency. The USB-powered (400mA) system is capable of outputting 250 features at 2300 frames per second (FPS) in ideal lighting conditions, while 1000 FPS can be achieved in an indoor environment. The system can be applied to the real-time control of agile robots and miniature aerial vehicles.
Original languageEnglish
Title of host publicationWorkshop on Vision-based Agile Autonomous Navigation of UAVs
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Number of pages2
Publication statusPublished - Sept 2017

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