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| Titre: | FPGA design of a real-time obstacle detection system using stereovision |
| Auteur(s): | Bendaoudi, Hamza
Khouas, Abdelhakim
Cherki, Brahim |
| Mots-clés: | obstacle detection system
FPGA design |
| Date de publication: | 2012 |
| Editeur: | IEEE |
| Collection/Numéro: | 24th International Conference on Microelectronics (ICM);PP.1-5 |
| Résumé: | Obstacle detection using stereovision is an important issue in intelligent vehicle and robot navigation, especially for the Advanced Driver Assistance Systems. This paper presents real-time obstacle detection system designed and implemented on single Field Programmable Gate Array (FPGA). The proposed hardware architecture combines stereo vision algorithms to compute the disparity map, V-disparity image, and Hough transform for obstacle detection. Considering the particular aspect of the V-disparity image and the real-time constraint, the Hough transform is only applied to detect the obstacles corresponding lines. The proposed system was tested in indoor environment using Virtex-II FPGA based prototyping board. For 640×480 pixels images, the proposed system can treat up to 180 frames/s when running at full rate, with a minimum detection time of 5.5 ms |
| URI/URL: | http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/3008 |
| ISSN: | 978-1-4673-5292-5/12 |
| Collection(s) : | Communications Internationales
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