Eventor: An Efficient Event-Based Monocular Multi-View Stereo Accelerator on FPGA Platform
TimeTuesday, July 12th4:30pm - 4:50pm PDT
Location3005, Level 3
Event Type
Research Manuscript
SoC, Heterogeneous, and Reconfigurable Architectures
DescriptionEvent cameras are bio-inspired vision sensors that asynchronouslycollect pixel-level brightness changes (called “events”) and outputthem in a stream. The technique using a single event camera toestimate semi-dense 3D structure with known trajectory is calledevent-based monocular multi-view stereo, which is a critical taskin event-based monocular SLAM. However, it is challenging toachieve real-time operation on low-power platforms. In this paper,we propose an energy-efficient accelerator for event-based monoc-ular multi-view stereo system by accelerating the most critical andtime-consuming stages of event back-projection and volumetric ray-counting on FPGA. Highly paralleled and fully pipelined processingelements are specially designed, which can effectively accelerate thecomputing process.