Stereo Imaging Using Hardwired Self-Organizing Object Segmentation
Abstract
:1. Introduction
2. Materials and Methods
2.1. Stereo Vision Algorithms
2.1.1. Self-Organized Map
- (1)
- Initialize the weight vectors of the M × N neurons
- (2)
- Repeat until convergence
- (a)
- Select the next input vector xi from the data set:
- (i)
- Find the unit Wj* that best matches the input vector xi
- (ii)
- Update the weights of the winner Wj* and its neighboring neurons Wk
- (b)
- Select the next input vector xi from the data set:
- (c)
- Decrease neighborhood size σ(t) that defines the topological neighborhoods:
2.1.2. Connected Component Labeling
2.1.3. Stereo Matching
2.2. Hardware Architecture of the Embedded Stereo Vision System
2.2.1. Dual Camera Vision Module
2.2.2. Self-Organized-Map-Based Image Segmentation Module
SOM Training Module
Random Generator
Lookup Table of Gaussian Function
SOM Color Classification Module
2.2.3. Connected Component Labeling Module
Sum-of-Absolute-Difference-Based Stereo Matching Module
Pipeline Controller and System Integration
3. Results
3.1. Software Simulation and Verification
3.2. Performance of the Embedded Stereo Vision System
3.2.1. System Performance Analysis
3.2.2. Hardware Resource Utilization and Performance Analysis
4. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Method | Image | Opera House | Sky | Ocean | Total | Correct Rate |
---|---|---|---|---|---|---|
K-Means | TP | 7058 | 38,400 | 15,994 | 61,452 | 0.9104 |
FN | 0 | 26 | 0 | 26 | ||
FP | 3416 | 131 | 1455 | 5002 | ||
overlap | 0.673 | 0.995 | 0.916 | - | - | |
SOM | TP | 9096 | 38,420 | 14,280 | 61796 | 0.9154 |
FN | 12 | 16 | 0 | 28 | ||
FP | 1378 | 111 | 3169 | 4658 | ||
overlap | 0.867 | 0.996 | 0.818 | - | - | |
Image size: 300 × 255 |
Objects | Center-Point of Original Object | Center-Point of Target Block | Disparity | Estimated Depth | Observed Depth |
---|---|---|---|---|---|
1 | (247,197) | (116,197) | 131 | 18.8 cm | 19.0 cm |
2 | (158,142) | (76,142) | 82 | 36.2 cm | 35.0 cm |
3 | (207,162) | (153,162) | 54 | 56.0 cm | 56.0 cm |
Module | Dual Camera Vision System | SDRAM | SOM-Based Image Segmentation | VGA Controller | |
---|---|---|---|---|---|
Resources | |||||
System clock | 48 MHz | 122.55 MHz | 6.63 MHz–105.88 MHz | 265.82 MHz | |
Total Logic Element | 2117/114,480 (2%) | 1672/114,480 (1%) | 22,498/114,480 (20%) | 79/114,480 (<1%) | |
Total Register | 1429 | 757 | 2709 | 56 | |
Total Memory Bits | 425,952/3,981,312 (11%) | 49,152/3,981,312 (1%) | 0/3,981,312 (0%) | 0/3,981,312 |
Manolakos’s Method [22] | Kurdthongmee’s Method [20] | Porrmann’s Method [21] | Our Method | ||
---|---|---|---|---|---|
SOM Training Module | learning rate (vectors/s) | 68,900 | N/C | 94,000 | 413,125 |
system clock | 148 MHz | 24.2 MHz | 40 MHz | 6.63 MHz | |
SOM Color Classification Module | classification rate (vectors/s) | 144,000 | N/C | 250,000 | 42,265,000 |
system clock | 148 MHz | 24.2 MHz | 40 MHz | 105.88 MHz |
Software Program | Pipelined Hardware Module | |
---|---|---|
Clock Frequency | 3 GHz | 84.53 MHz |
Object Segmentation | 0.039 s | 0.004 s |
CCL | 0.037 s | 0.066 s |
Stereo Matching | 0.122 s | 0.064 s |
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Chen, C.-H.; Lan, G.-W.; Chen, C.-Y.; Huang, Y.-H. Stereo Imaging Using Hardwired Self-Organizing Object Segmentation. Sensors 2020, 20, 5833. https://doi.org/10.3390/s20205833
Chen C-H, Lan G-W, Chen C-Y, Huang Y-H. Stereo Imaging Using Hardwired Self-Organizing Object Segmentation. Sensors. 2020; 20(20):5833. https://doi.org/10.3390/s20205833
Chicago/Turabian StyleChen, Ching-Han, Guan-Wei Lan, Ching-Yi Chen, and Yen-Hsiang Huang. 2020. "Stereo Imaging Using Hardwired Self-Organizing Object Segmentation" Sensors 20, no. 20: 5833. https://doi.org/10.3390/s20205833