첨단운전자보조시스템용 이동객체검출을 위한 광학흐름추정기의 설계 및 구현

Abstract

In this paper, the design and implementation results of the optical flow estimator (OFE) for moving object detection (MOD) in advanced driver assistance system (ADAS). In the proposed design, Brox's algorithm with global optimization is considered, which shows the high performance in the vehicle environment. In addition, Cholesky factorization is applied to solve Euler-Lagrange equation in Brox's algorithm. Also, shift register bank is incorporated to reduce memory access rate. The proposed optical flow estimator was designed with Verilog-HDL, and FPGA board was used for the real-time verification. Implementation results show that the proposed optical flow estimator includes the logic slices of 40.4K, 155 DSP48s, and block memory of 11,290Kbits.