Journal of Real-Time Image Processing

, Volume 11, Issue 2, pp 349–374

Accelerating embedded image processing for real time: a case study

  • Sol Pedre
  • Tomáš Krajník
  • Elías Todorovich
  • Patricia Borensztejn
Special Issue Paper

DOI: 10.1007/s11554-013-0353-2

Cite this article as:
Pedre, S., Krajník, T., Todorovich, E. et al. J Real-Time Image Proc (2016) 11: 349. doi:10.1007/s11554-013-0353-2

Abstract

Many image processing applications need real-time performance, while having restrictions of size, weight and power consumption. Common solutions, including hardware/software co-designs, are based on Field Programmable Gate Arrays (FPGAs). Their main drawback is long development time. In this work, a co-design methodology for processor-centric embedded systems with hardware acceleration using FPGAs is proposed. The goal of this methodology is to achieve real-time embedded solutions, using hardware acceleration, but achieving development time similar to that of software projects. Well established methodologies, techniques and languages from the software domain—such as Object-Oriented Paradigm design, Unified Modelling Language, and multithreading programming—are applied; and semiautomatic C-to-HDL translation tools and methods are used and compared. The methodology is applied to achieve an embedded implementation of a global vision algorithm for the localization of multiple robots in an e-learning robotic laboratory. The algorithm is specifically developed to work reliably 24/7 and to detect the robot’s positions and headings even in the presence of partial occlusions and varying lighting conditions expectable in a normal classroom. The co-designed implementation of this algorithm processes 1,600 × 1,200 pixel images at a rate of 32 fps with an estimated energy consumption of 17 mJ per frame. It achieves a 16× acceleration and 92 % energy saving, which compares favorably with the most optimized embedded software solutions. This case study shows the usefulness of the proposed methodology for embedded real-time image processing applications.

Keywords

Real-time image processing Methodology for hardware/software co-design in FPGA  High level synthesis High level modeling Multiple robot localization Multithreaded programming Hardware acceleration 

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Sol Pedre
    • 1
  • Tomáš Krajník
    • 2
  • Elías Todorovich
    • 3
  • Patricia Borensztejn
    • 1
  1. 1.Departamento de ComputaciónFCEN-UBABuenos AiresArgentina
  2. 2.Czech Technical University in PraguePragueCzech Republic
  3. 3.Departamento de Computación y SistemasFCE-UNICENTandilArgentina

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