Hardware-Software Implementation of a SFM Module for Navigation an Unmanned Aerial Vehicles-A Demo
Karol Radwan, Tomasz Kryjak, M. Gorgoń · 2018
In this paper the design of an embedded vision system for structure from motion (SFM) computation is presented. The solution allows for scene depth reconstruction based on two consecutive video frames registered by a moving camera. The module is developed for a Xilinx Zynq SoC (System on Chip) device and is divided into a hardware and software part. The programmable logic (PL) is used mainly for detect and match features. Fundamental matrix estimation and triangulation are executed in the processing system (PS-ARM based). The module is dedicated to navigation of unmanned aerial vehicles (UAV)-autonomous flight and landing. The system is adapted to process a 1280×720 pixel video stream @ 60 frames per second in realtime.