索贝尔算子
计算机科学
计算机视觉
人工智能
边缘检测
探测器
GSM演进的增强数据速率
机器人
移动机器人
图像处理
图像(数学)
电信
作者
Fei Liu,Jipeng Wang,Bingqiang Liu,Run Min,Guoyi Yu,Fengwei An,Chao Wang
标识
DOI:10.1109/rcar52367.2021.9517380
摘要
Most information in an image is contained in the edge. Sobel edge detection algorithm is a classic method to realize the edge detection of image in the applications of robot vision, including motion detection and object tracking. This paper proposes an area-efficient and energy-efficient Sobel edge detector design utilizing bit-width pruning, shift-add operation and bit-width tuning techniques, to reduce required area and computation significantly with negligible edge information loss, for mobile robot vision applications. As a result, the proposed Sobel edge detector can achieve lower hardware overhead and higher energy efficiency. FPGA implementation shows that the proposed Sobel detector design achieves 33% lower power consumption while maintaining a good detection performance in terms of CP (over 99%, $P_{co}$ ) and achieving a better processing performance in terms of frame rate (an increasing by 39.5%), as compared to the conventional Sobel detector design, which is suitable for resource-limited and energy-constrained mobile robots in edge IoT applications.
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