Low computation and high efficiency sobel edge detector for robot vision

Liu，Fei1; Wang，Jipeng1; Liu，Bingqiang1; Min，Run1; Yu，Guoyi1; An，Fengwei2; Wang，Chao1

10.1109/RCAR52367.2021.9517380

2021-07-15

978-1-6654-3679-3

2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

684-689

15-19 July 2021

Xining, China

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.

Performance evaluation Power demand Image edge detection Detectors Energy efficiency Motion detection Hardware

其他

英语

EI

20213910935871

Edge detection ; Energy efficiency ; Machine design ; Mobile robots ; Object detection

Energy Conservation:525.2 ; Mechanical Design:601 ; Data Processing and Image Processing:723.2 ; Computer Applications:723.5 ; Robotics:731.5 ; Vision:741.2

2-s2.0-85115382275

Scopus

1.Huazhong University of Science and Technology,School of Optics and Electronic Information,Wuhan,China
2.Southern University of Science and Technology,School of Microelectronics,Shenzhen,China

Liu，Fei,Wang，Jipeng,Liu，Bingqiang,et al. Low computation and high efficiency sobel edge detector for robot vision[C],2021:684-689.