• Journal of Multimedia Information System
• /
• 제5권2호
• /
• pp.131-138
• /
• 2018

This work describes a binary image based fast Difference of Gaussian (DoG) filter using zero-dimensional (0-d) convolution and state machine look up tables (LUTs) for image and video stitching hardware platforms. The proposed approach for using binary images to obtain DoG filtering can significantly reduce the data size compared to conventional gray scale based DoG filters, yet binary images still preserve the key features of the image such as contours, edges, and corners. Furthermore, the binary image based DoG filtering can be realized with zero-dimensional convolution and state machine LUTs which eliminates the major portion of the adder and multiplier blocks that are generally used in conventional DoG filter hardware engines. This enables fast computation time along with the data size reduction which can lead to compact and low power image and video stitching hardware blocks. The proposed DoG filter using binary images has been implemented with a FPGA (Altera DE2-115), and the results have been verified.

• 로봇학회논문지
• /
• 제19권1호
• /
• pp.16-22
• /
• 2024

Robotic grasping in unstructured environments poses a significant challenge, demanding precise estimation of gripping positions for diverse and unknown objects. Generative Grasping Convolution Neural Network (GG-CNN) can estimate the position and direction that can be gripped by a robot gripper for an unknown object based on a three-dimensional depth map. Since GG-CNN uses only a depth map as an input, the precision of the depth map is the most critical factor affecting the result. To address the challenge of depth map precision, we integrate the Segment Anything Model renowned for its robust zero-shot performance across various segmentation tasks. We adjust the components corresponding to the segmented areas in the depth map aligned through external calibration. The proposed method was validated on the Cornell dataset and SurgicalKit dataset. Quantitative analysis compared to existing methods showed a 49.8% improvement with the dataset including surgical instruments. The results highlight the practical importance of our approach, especially in scenarios involving thin and metallic objects.