A Hardware-Software Co-Design Framework for Real-Time Video Stabilization

摘要

Live digital video is a valuable source of information in security, broadcast and industrial quality control applications. Motion jitter due to camera and platform instability is a common artefact found in captured video which renders it less effective for subsequent computer vision tasks such as detection and tracking of objects, background modeling, mosaicking, etc. The process of algorithmically compensating for the motion jitter is hence a mandatory preprocessing step in many applications. This process, called video stabilization, requires estimation of global motion from consecutive video frames and is constrainted by additional challenges such as preservation of intentional motion and native frame resolution. The problem is exacerbated in the presence of local motion of foreground objects and requires robust compensation of the same. As such achieving real-time performance for this computationally intensive operation is a difficult task for embedded processors with limited computational and memory resources. In this work, development of an optimized hardware-software co-design framework for video stabilization has been investigated. Efficient video stabilization depends on the identification of key points in the frame which in turn requires dense feature calculation at the pixel level. This task has been identified to be most suitable for offloading the pipelined hardware implemented in the FPGA fabric due to the involvement of complex memory and computation operations. Subsequent tasks to be performed for the overall stabilization algorithm utilize these sparse key points and have been found to be efficiently handled in the software. The proposed Hardware-Software (HW-SW) co-design framework has been implemented on Zedboard FPGA platform which houses Xilinx Zynq SOC equipped with ARM A9 processor. The proposed implementation scheme can process real-time video stream input at 28 frames per second and is at least twice faster than the corresponding software-only approach. Two different hardware accelerator designs have been implemented using different high-level synthesis tools using rapid prototyping principle and consume less than 50% of logic resources available on the host FPGA while being at least 30% faster than contemporary designs.