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Temporally Forward Nonlinear Scale Space for High Frame Rate and Ultra-Low Delay A-KAZE Matching System

Songlin DU, Yuan LI, Takeshi IKENAGA

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Summary :

High frame rate and ultra-low delay are the most essential requirements for building excellent human-machine-interaction systems. As a state-of-the-art local keypoint detection and feature extraction algorithm, A-KAZE shows high accuracy and robustness. Nonlinear scale space is one of the most important modules in A-KAZE, but it not only has at least one frame delay and but also is not hardware friendly. This paper proposes a hardware oriented nonlinear scale space for high frame rate and ultra-low delay A-KAZE matching system. In the proposed matching system, one part of nonlinear scale space is temporally forward and calculated in the previous frame (proposal #1), so that the processing delay is reduced to be less than 1 ms. To improve the matching accuracy affected by proposal #1, pre-adjustment of nonlinear scale (proposal #2) is proposed. Previous two frames are used to do motion estimation to predict the motion vector between previous frame and current frame. For further improvement of matching accuracy, pixel-level pre-adjustment (proposal #3) is proposed. The pre-adjustment changes from block-level to pixel-level, each pixel is assigned an unique motion vector. Experimental results prove that the proposed matching system shows average matching accuracy higher than 95% which is 5.88% higher than the existing high frame rate and ultra-low delay matching system. As for hardware performance, the proposed matching system processes VGA videos (640×480 pixels/frame) at the speed of 784 frame/second (fps) with a delay of 0.978 ms/frame.

Publication
IEICE TRANSACTIONS on Information Vol.E103-D No.6 pp.1226-1235
Publication Date
2020/06/01
Publicized
2020/03/06
Online ISSN
1745-1361
DOI
10.1587/transinf.2019MVP0019
Type of Manuscript
Special Section PAPER (Special Section on Machine Vision and its Applications)
Category

Authors

Songlin DU
  Southeast University,Ministry of Education
Yuan LI
  Waseda University
Takeshi IKENAGA
  Waseda University

Keyword