| Presentation | 2020-05-28 Real-time object detection by point cloud information from a TOF camera with an SOC-FPGA Zijian HU, Yoshiki Yamaguchi, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A Time of Flight (ToF) camera operates by sending a modulated infrared light and receiving the objects reflected light. Time cost between the sending and receiving is measured and calculated to distance. ToF technology is revolutionizing the machine vision industry by providing point cloud information. This paper proposes two implementations of SoC-FPGA based real-time object detection with the depth image captured by ToF camera. The one named HDD (Histogram of Depth Difference), which is a HOG-like feature extractor, it could robustly calculate the feature histogram of local pixel area and simultaneously provide it for SVM classifier. Another one named flood-fill that is a classical recursive algorithm, which usually used in the bucket fill tool of paint programs to fill connected and similarly colored areas with a different color. The implementation of this algorithm could also color fill different objects in the depth image depends on the boundary information of themselves. A series of experiments have been carried out both indoor and outdoor under different illumination conditions with the frame rate of 30fps and VGA resolution. Finally, the results have been evaluated and discussed which proves this research might be useful in the coming future. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Real-time objects detectionSoC-FPGAToF cameraSelf-driving |
| Paper # | RECONF2020-3 |
| Date of Issue | 2020-05-21 (RECONF) |
| Conference Information | |
| Committee | RECONF |
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| Conference Date | 2020/5/28(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Meeting room on Web |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Reconfigurable system, etc. |
| Chair | Yuichiro Shibata(Nagasaki Univ.) |
| Vice Chair | Kentaro Sano(RIKEN) / Yoshiki Yamaguchi(Tsukuba Univ.) |
| Secretary | Kentaro Sano(Hiroshima City Univ.) / Yoshiki Yamaguchi(e-trees.Japan) |
| Assistant | Yuuki Kobayashi(NEC) / Hiroki Nakahara(Tokyo Inst. of Tech.) |
| Paper Information | |
| Registration To | Technical Committee on Reconfigurable Systems |
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| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Real-time object detection by point cloud information from a TOF camera with an SOC-FPGA |
| Sub Title (in English) | |
| Keyword(1) | Real-time objects detectionSoC-FPGAToF cameraSelf-driving |
| 1st Author's Name | Zijian HU |
| 1st Author's Affiliation | University of Tsukuba(Univ.of Tsukuba) |
| 2nd Author's Name | Yoshiki Yamaguchi |
| 2nd Author's Affiliation | University of Tsukuba(Univ.of Tsukuba) |
| Date | 2020-05-28 |
| Paper # | RECONF2020-3 |
| Volume (vol) | vol.120 |
| Number (no) | RECONF-36 |
| Page | pp.pp.13-18(RECONF), |
| #Pages | 6 |
| Date of Issue | 2020-05-21 (RECONF) |