Paper Info
Title
Low Computation and High Efficiency Sobel Edge Detector for Robot Vision
Abstract
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%, <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$P_{co}$</tex> ) 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.
Year
DOI
Venue
2021
10.1109/RCAR52367.2021.9517380
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Keywords
DocType
ISBN
high efficiency Sobel edge detector,Sobel edge detection algorithm,motion detection,object tracking,area-efficient,energy-efficient Sobel edge detector design,bit-width pruning,bit-width tuning techniques,negligible edge information loss,mobile robot vision applications,edge IoT applications,FPGA implementation,energy-constrained mobile robots,power consumption
Conference
978-1-6654-3679-3
Citations 
PageRank 
References 
0
0.34
0
Authors
7
Name
Order
Citations
PageRank
Fei Liu100.34
Jipeng Wang200.34
Bingqiang Liu300.34
Run Min400.34
Guoyi Yu501.69
Fengwei An600.34
Chao Wang700.34