期刊
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
卷 16, 期 9, 页码 5703-5711出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2019.2950255
关键词
Field programmable gate arrays; Image color analysis; Real-time systems; Cameras; Informatics; Hardware; Image edge detection; Autonomous application; embedded system; image processing; on-board processing; particle filter
类别
资金
- Natural Sciences and Engineering Research Council (NSERC) of Canada through the NSERC Discovery Grants Program
- CNPq, Brazilian National Research Council [408017/2016-3]
Due to the related hazards, costly down-time, and detection inconsistencies associated with manual visual inspection for cracks in structures, there has been an emergence of real-time systems capable of conducting inspections. Advanced robotic systems have been used for scanning structures located in remote areas or that pose significant hazards to personnel. However, due to their inherent resource limitations, the current solution is to transfer all applicable sensor data to a ground station where detection will occur at a later time, thereby preventing real-time decision based on the results. To allow on-board decision making, in this article, a crack detection particle filter is optimized for parallel computation and implemented onto an Field-programmable gate array (FPGA). This article shows that an FPGA holds distinct tradeoffs between computational speed, energy consumption, and physical footprint compared to that of traditional CPU designs, allowing for it to be an ideal system for autonomous applications.
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