A reconfigurable architecture for autonomous visual-navigation

摘要

This paper describes the design of a reconfigurable architecture for implementing image processing algorithms. This architecture is a pipeline of small identical processing elements that contain a programmable logic device (FPGA) and double port memories. This processing system has been adapted to accelerate the computation of differential algorithms. The log-polar vision selectively reduces the amount of data to be processed and simplifies several vision algorithms, making possible their implementation using few hardware resources. The reconfigurable architecture design has been devoted to implementation, and has been employed in an autonomous platform, which has power consumption, size and weight restrictions. Two different vision algorithms have been implemented in the reconfigurable pipeline, for which some experimental results are shown.