SLAM硬件加速之FPGA-base ORB(4)——Non-Maximum Suppression

Non-Maximum Suppression

我们基于上一步计算的分数值，通过非极大值抑制的方法过滤keypoint，在ORB中使用的NMS一般在3x3大小上进行。

方案一：

“S5”由8个比较器与其他8个分值进行比较，并且使用逻辑运算来计算比较值。如果结果“r”等于1，则“S5”大于其他8个分值，并保持为更稳健的角点。否则，“S5”将从角点集中删除。此外，非角点的分值定义为0。[3]

方案二：

候选B被串行缓冲到3个寄存器中，使得RegB1、RegB2和RegB3中的数据是3个相邻像素。比较器B（CMPB）测试RegB2中的像素是否是候选点并且在这三个像素中具有最高得分。如果是，则RegB2中的像素与其关键点标志一起存储在为第二NMS准备的候选缓冲器中。否则，它也存储在缓冲区中，但关键点标志设置为“0”。然后，候选缓冲器中的一个像素被提取到RegA中，同时RegB2中的像素正是RegA中像素下方的像素。只有当候选a通过第二个NMS时，它才会被写入关键点缓冲器[10]。 但该方法不能保证分数高于前一行。

上一节

SLAM硬件加速之FPGA-base ORB(3)——Score Calculation​​​​​​​

下一节

SLAM硬件加速之FPGA-base ORB(5)——Feature Point Sorting

Reference

[1]FPGA-based ORB Feature Extraction for Real-Time Visual SLAM. 2017

[2]FPGA Acceleration of Multilevel ORB Feature Extraction for Computer Vision. 2017

[3]A New FPGA Architecture of FAST and BRIEF Algorithm for On-Board Corner Detection and Matching. 2018

[4]High-throughput and area-optimized architecture for rbrief feature extraction. 2018

[5]eSLAM: An Energy-Efficient Accelerator for Real-Time ORB-SLAM on FPGA Platform. 2019

[6]An Efficient Real-Time FPGA-Based ORB Feature Extraction for an UHD Video Stream for Embedded Visual SLAM. 2022

[7]HcveAcc: A High-Performance and Energy-Efficient Accelerator for Tracking Task in VSLAM System. 2020 [8]ac2SLAM: FPGA Accelerated High-Accuracy SLAM with Heapsort and Parallel Keypoint Extractor. 2023

[9]Area-Time Efficient Streaming Architecture for FAST and BRIEF Detector. 2018

[10]A Low Latency Feature Extraction Accelerator with Reduced Internal Memory. 2017

[11]A 42fps Full-HD ORB Feature Extraction Accelerator with Reduced Memory Overhead.2017

[12]A Flexible and Efficient Real-Time ORB-Based Full-HD Image Feature Extraction Accelerator. 2020

[13]ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. 2016