A comparative hardware implementation of histogram of oriented gradients as a descriptor in embedded tracking of swarm robots

IF 3.4 3区计算机科学 Q1 COMPUTER SCIENCE, THEORY & METHODS

Journal of Parallel and Distributed Computing Pub Date : 2024-12-17 DOI:10.1016/j.jpdc.2024.105026

Diego Legarda, Karen Pérez, Daniel M. Muñoz

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Abstract

The Histogram of Oriented Gradients (HOG) algorithm is widely utilized in image processing for tasks such as detection, classification, and tracking. However, several challenges arise when implementing this algorithm on computing platforms with limited memory and low power consumption, such as mobile robots and drones. This work presents an in-depth analysis and implementation of three innovative hardware architectures for HOG, specifically designed for real-time processing using Field Programmable Gate Arrays (FPGAs) in the context of mobile robot localization. The primary focus of these architectures is to simplify the processing operations involved in gradient magnitude and orientation calculation, histogram generation, and normalization. These simplifications lead to a reduction in resource utilization and energy consumption. Experimental results conducted on a Zynq 7020 device demonstrated minimal relative error values throughout the entire process, along with a significant execution time improvement of over 1000 times when compared to the software-based solution.

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来源期刊

Journal of Parallel and Distributed Computing 工程技术-计算机：理论方法

CiteScore

10.30

自引率

2.60%

发文量

172

审稿时长

12 months

期刊介绍： This international journal is directed to researchers, engineers, educators, managers, programmers, and users of computers who have particular interests in parallel processing and/or distributed computing. The Journal of Parallel and Distributed Computing publishes original research papers and timely review articles on the theory, design, evaluation, and use of parallel and/or distributed computing systems. The journal also features special issues on these topics; again covering the full range from the design to the use of our targeted systems.