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- Ahlberg, Carl, et al.
(author)
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GIMME - A General Image Multiview Manipulation Engine
- 2011
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In: Proceedings of the International Conference on ReConFigurable Computing and FPGAs (ReConFig 2011). - Los Alamitos, Calif : IEEE Computer Society. - 9780769545516
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Conference paper (peer-reviewed)abstract
- This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable stand-alone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level image-processing at video rate. The Qseven-extension enables additional processing power. Thanks to its compact design, low power consumption and standardized interfaces (power and communication), GIMME is an ideal vision platform for autonomous and mobile robot applications.
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- Ahlberg, Carl, et al.
(author)
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GIMME2 - An embedded system for stereo vision and processing of megapixel images with FPGA-acceleration
- 2015
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In: 2015 International Conference on ReConFigurable Computing and FPGAs, ReConFig 2015. - 9781467394062
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Conference paper (peer-reviewed)abstract
- This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the benefits of heterogeneous processing.
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- Ahlberg, Carl, et al.
(author)
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The Black Pearl: An Autonomous Underwater Vehicle
- 2013
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Reports (other academic/artistic)abstract
- The Black Pearl is a custom made autonomous underwater vehicle developed at Mälardalen University, Sweden. It is built in a modular fashion, including its mechanics, electronics and software. After a successful participation at the RoboSub competition in 2012 and winning the prize for best craftsmanship, this year we made minor improvements to the hardware, while the focus of the robot's evolution shifted to the software part. In this paper we give an overview of how the Black Pearl is built, both from the hardware and software point of view.
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- Ahlberg, Carl, et al.
(author)
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The genetic algorithm census transform : evaluation of census windows of different size and level of sparseness through hardware in-the-loop training
- 2021
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In: Journal of Real-Time Image Processing. - : SPRINGER HEIDELBERG. - 1861-8200 .- 1861-8219. ; :3, s. 539-559
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Journal article (peer-reviewed)abstract
- Stereo correspondence is a well-established research topic and has spawned categories of algorithms combining several processing steps and strategies. One core part to stereo correspondence is to determine matching cost between the two images, or patches from the two images. Over the years several different cost metrics have been proposed, one being the Census Transform (CT). The CT is well proven for its robust matching, especially along object boundaries, with respect to outliers and radiometric differences. The CT also comes at a low computational cost and is suitable for hardware implementation. Two key developments to the CT are non-centric and sparse comparison schemas, to increase matching performance and/or save computational resources. Recent CT algorithms share both traits but are handcrafted, bounded with respect to symmetry, edge lengths and defined for a specific window size. To overcome this, a Genetic Algorithm (GA) was applied to the CT, proposing the Genetic Algorithm Census Transform (GACT), to automatically derive comparison schemas from example data. In this paper, FPGA-based hardware acceleration of GACT, has enabled evaluation of census windows of different size and shape, by significantly reducing processing time associated with training. The experiments show that lateral GACT windows produce better matching accuracy and require less resources when compared to square windows.
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- Ahlberg, Carl, et al.
(author)
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Unbounded Sparse Census Transform using Genetic Algorithm
- 2019
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In: 2019 IEEE WINTER CONFERENCE ON APPLICATIONS OF COMPUTER VISION (WACV). - : IEEE. - 9781728119755 ; , s. 1616-1625
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Conference paper (peer-reviewed)abstract
- The Census Transform (CT) is a well proven method for stereo vision that provides robust matching, with respect to object boundaries, outliers and radiometric distortion, at a low computational cost. Recent CT methods propose patterns for pixel comparison and sparsity, to increase matching accuracy and reduce resource requirements. However, these methods are bounded with respect to symmetry and/or edge length. In this paper, a Genetic algorithm (GA) is applied to find a new and powerful CT method. The proposed method, Genetic Algorithm Census Transform (GACT), is compared with the established CT methods, showing better results for benchmarking datasets. Additional experiments have been performed to study the search space and the correlation between training and evaluation data.
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- Backhans, Annette, et al.
(author)
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Behandlingsrekommendation: Dosering av antibiotika till gris
- 2022
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Other publication (other academic/artistic)abstract
- Denna rekommendation handlar om behandling med antibiotika till gris. Den ger råd om hur antibiotika ska doseras för att ge tillfredsställande effekt utan onödig exponering, när det bedömts att behandling med antibiotika är nödvändig.
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