FPGA Implementation of the ORB Algorithm

Sammanfattning

Image feature extraction has become a key technology in the field of autonomous Artificial Intelligence. The algorithm Oriented FAST and Rotated BRIEF (ORB), uses established technologies in image processing to allow a computer to ”see” and navigate its surroundings. This process, however, is very performance intensive, but a field-programmable gate array (FPGA), a programmable semiconductor device based on an integrated circuit, can be used to accelerate this process with good power efficiency and make it feasible for small computationally challenged implementations, such as drones. In this thesis an FPGA implementation of the ORB algorithm is taken as the research object, aiming at finding out an efficient way to implement ORB on an FPGA board. The main work of this thesis is as follows: • Construct ORB in C++ without the OpenCV library to understand the process of ORB algorithm better. • Based on the above step, present two methods to implement ORB calculation on FPGA board. • Discuss the results of the two methods and summarize their pros and cons.