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Paper Abstract and Keywords
Presentation 2020-05-28 11:35
Real-time object detection by point cloud information from a TOF camera with an SOC-FPGA
Zijian HU, Yoshiki Yamaguchi (Univ.of Tsukuba) RECONF2020-3
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) Real-time objects detection / SoC-FPGA / ToF camera / Self-driving / / / /  
Reference Info. IEICE Tech. Rep., vol. 120, no. 36, RECONF2020-3, pp. 13-18, May 2020.
Paper # RECONF2020-3 
Date of Issue 2020-05-21 (RECONF) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Notes on Review This article is a technical report without peer review, and its polished version will be published elsewhere.
Download PDF RECONF2020-3

Conference Information
Committee RECONF  
Conference Date 2020-05-28 - 2020-05-29 
Place (in Japanese) (See Japanese page) 
Place (in English) Online 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Reconfigurable system, etc. 
Paper Information
Registration To RECONF 
Conference Code 2020-05-RECONF 
Language English 
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 detection  
Keyword(2) SoC-FPGA  
Keyword(3) ToF camera  
Keyword(4) Self-driving  
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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)
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Speaker Author-1 
Date Time 2020-05-28 11:35:00 
Presentation Time 25 minutes 
Registration for RECONF 
Paper # RECONF2020-3 
Volume (vol) vol.120 
Number (no) no.36 
Page pp.13-18 
#Pages 6 
Date of Issue 2020-05-21 (RECONF) 

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