CN103514594A - Acceleration corner detection method and mobile device for implementing acceleration corner detection method - Google Patents
Acceleration corner detection method and mobile device for implementing acceleration corner detection method Download PDFInfo
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- CN103514594A CN103514594A CN201210219887.4A CN201210219887A CN103514594A CN 103514594 A CN103514594 A CN 103514594A CN 201210219887 A CN201210219887 A CN 201210219887A CN 103514594 A CN103514594 A CN 103514594A
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Abstract
The invention provides an acceleration corner detection method and a mobile device for implementing the acceleration corner detection method. The acceleration corner detection method is implemented through a graphic chip on the mobile device and comprises the following steps: the graphic chip reads a two-dimensional image and conducts corner detection on the two-dimensional image in a multi-core parallel computing mode according to a second program code which is written with an open graph program library shading language so as to find out corners in the two-dimensional image. According to the acceleration corner detection method and the mobile device for implementing the acceleration corner detection method, the characteristic of multi-core parallel computing through the graphic chip and a multi-core corner detection execution algorithm are utilized for simultaneously detecting multiple image points so as to conduct corner detection, and the speed of image identification can be increased for the mobile device.
Description
Technical field
The present invention relates to a kind of method of accelerating Corner Detection, particularly relate to a kind of mobile device that utilizes the method for drawing chip acceleration Corner Detection and carry out the method on mobile device.
Background technology
In image recognition, Corner Detection is very important technology, and is widely used in the related application of processing in various images.Corner Detection is used in such as 3D and rebuilds in the application such as (3D reconstruction), object identification (object recognition), image mosaic (image mosaicing), motive objects tracking (motion tracking).And universal along with mobile device, the technology of image recognition is also often used on mobile device platform.
Since iPhone listing in 2008, intelligent mobile device becomes the product that people are indispensable already.The life of pressing close to people due to mobile device, and there is the characteristic of carrying, therefore, also diversification more of the application of image recognition on mobile device, for example utilize recognition of face release mobile phone, AR augmented reality (Augmented Reality) game etc., and current mobile device is all with central processing unit (CPU, Central Processing Unit) carry out a large amount of computings of image recognition processing, but because the speed of the CPU of mobile device is so fast unlike the speed of the CPU of PC, therefore the speed of mobile device recognition image be subject to the restriction of its CPU speed.
And drawing chip (GPU) in the display card of PC is mainly as 3D rendering drawing computing, and its arithmetic speed CPU is more a lot of than fast.
So, in order to solve the limited problem of CPU calculation function, at present existing dealer uses drawing chip (Graphics Processing Unit) (GPU, required a large amount of computings to be processed while graphics processing units) assisting image recognition, for example, in well-known open computer vision routine library (OpenCV) latest edition, the program of part provides the function of carrying out computation assistance with drawing chip, wherein topmost method is to use GPU general-purpose computations (GPGPU, General-purpose computing on graphics processing units) CUDA version (unified calculation device architecture) (Compute Unified Device Architecture), assist a large amount of computings in image recognition.So-called CUDA version, refers to and allows developer with high level language as language such as C or C#, control the version of drawing chip.
Yet, these methods of using GPGPU to accelerate are only applicable to up-to-date (future) three-dimensional (3D) drawing chip, for example NVIDIA GeForce GTX is serial, and can only be applied at present on PC (PC) platform, does not support mobile device.Therefore, existing mobile device still can only carry out image recognition processing by CPU, thereby cannot promote the speed of image recognition.Therefore, how lifting mobile device, at the execution speed of the Corner Detection of image recognition, just becomes the theme of the present invention's research.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of method of utilizing drawing chip to accelerate Corner Detection on mobile device.So the present invention accelerates the method for Corner Detection, comprises:
(A) this drawing chip reads a two dimensional image.
(C) this drawing chip, according to a kind of the second procedure code of writing to open graphic package storehouse shading language, carries out Corner Detection in the mode of multinuclear parallel calculation to this two dimensional image, to find out angle point wherein.
Preferably, this two dimensional image that step (A) reads is a color 2 D image, and the method also comprises the step (B) being executed between step (A) and step (C):
(B) this drawing chip, according to a kind of the first procedure code of writing to open graphic package storehouse shading language, carries out GTG processing in the mode of multinuclear parallel calculation to this color 2 D image, to produce a GTG two dimensional image; And
Step (C) is that this GTG two dimensional image is carried out to Corner Detection.
Preferably, this two dimensional image that step (A) reads is a GTG two dimensional image, and step (C) is that this GTG two dimensional image is carried out to Corner Detection.
Preferably, the Corner Detection of step (C) is to adopt FAST Corner Detection algorithm.
Preferably, this mobile device is a mobile phone or personal digital assistants.
Another object of the present invention is to provide a kind of mobile device, comprise a drawing chip, this drawing chip is carried out as utilized drawing chip to accelerate the method for Corner Detection on being set forth in mobile device.
Beneficial effect of the present invention is: the present invention utilizes the characteristic of drawing chip multinuclear parallel calculation, and multinuclear ground is carried out Corner Detection algorithm and detected a plurality of picture point to carry out Corner Detection simultaneously, can accelerate the speed that mobile device carries out image recognition.
Accompanying drawing explanation
Fig. 1 is a calcspar, shows that carry out the present invention utilizes drawing chip to accelerate the mobile device of the method for Corner Detection on mobile device;
Fig. 2 is a process flow diagram, shows that the present invention utilizes drawing chip to accelerate a preferred embodiment of the method for Corner Detection on mobile device;
Fig. 3 is an architecture signal comparison diagram, shows the architecture comparison of central processing unit and drawing chip; And
Fig. 4 is a schematic diagram, shows the FAST Corner Detection algorithm that this preferred embodiment is carried out.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail:
Consult Fig. 4, the present invention shown in figure utilizes drawing chip to accelerate the preferred embodiment of the method for Corner Detection on mobile device, it is the characteristic of utilizing drawing chip multinuclear parallel calculation, accelerate the Corner Detection of image recognition, and in order to calculate fast, the present embodiment is selected feature (Features from Accelerated Segment Test, the FAST) algorithm of the block test of acceleration.
Consult Fig. 1, carry out the present invention and on mobile device, utilize drawing chip to accelerate the preferred embodiment of mobile device of the method for Corner Detection, comprise the drawing chip 11 and the central processing unit 12 that are connected.
Consult Fig. 2, the method for the present embodiment comprises three steps, and wherein main two step S2 and S3, be respectively that GTG is processed and FAST computing, and these two steps are all to use drawing chip 11 to carry out parallel calculation
Step S1-this drawing chip 11 reads a color 2 D image.Specifically, be that this central processing unit 12 first reads after this color 2 D image in the present embodiment, set this drawing chip 11 and prepare, then by this color 2 D image, give this drawing chip 11 and process.
Step S2-this drawing chip 11 according to a kind of to open graphic package storehouse shading language (OpenGL (Open Graphics Library) Shading Language, GLSL) the first procedure code of writing, mode with multinuclear parallel calculation is carried out GTG processing to this color 2 D image, to produce a GTG two dimensional image.
Step S3-this drawing chip 11, according to a kind of the second procedure code of writing to open graphic package storehouse shading language, carries out Corner Detection in the mode of multinuclear parallel calculation to this GTG two dimensional image, to find out angle point wherein.The Corner Detection of the present embodiment is to adopt FAST Corner Detection algorithm.
The present embodiment is used drawing chip 11 to have arithmetic speed faster than use central processing unit 12.This is that the hardware architecture due to drawing chip similarly is the central processing unit of a multinuclear, and its core can be up to hundreds of, therefore, if drawing chip has 100 cores, just its arithmetic speed can be than fast upper 100 times of the central processing unit of monokaryon so.Central processing unit is as shown in Figure 3 four cores, and drawing chip has 14 multiprocessors, and each multiprocessor has the thirty-two nucleus heart, therefore has 448 cores, so arithmetic speed is 101 twelvefolds of central processing unit.
The FAST Corner Detection algorithm of carrying out at step S3 is proposed by Edward. Luo Siteng (Edward Rosten) doctor, its feature is as its name " fast ", be mainly used in the application that needs high speed processing, as the instant angle point that extracts from film, experimental data from the present embodiment, in more and more higher now high-res film, immediately obtain angle point, FAST Corner Detection algorithm can be said and have overwhelming superiority.
FAST Corner Detection algorithm, as shown in Fig. 4 and formula (1), be take tested point P as example, I
pfor the brightness value of tested point P, t is threshold value (threshold value), and X is the 1st to 16 comparison point, and { 1...16}, each is around central point I for X ∈
p16 comparison point brightness of point are designated as I
p->Xso, shown in following formula, have three kinds of states, the first I
p-> Xbe less than or equal to I
p-t, represents I
p-> Xcompared with I
psecretly, the second I
p-> Xbetween I
p-t and I
pbetween+t, represent I
p->Xwith I
psimilar, the third I
p-> Xbe more than or equal to I
p+ t, represents I
p-> Xcompared with I
pbright.FAST Corner Detection algorithm is got first and is judged with the third state whether tested point P is angle point, if there are continuous 9 to 12 I
p-> Xpoint compares I
pdark or bright, judge that tested point P is as angle point.
It should be noted that because Corner Detection is to calculate according to brightness value, therefore, as long as can access the means of brightness value, just can carry out the Corner Detection of the present embodiment.
Compared to acceleration robust feature (the Speeded Up Robost Features that has outstanding Corner Detection ability, SURF) algorithm, can process the image that yardstick is constant, FAST Corner Detection algorithm is applied to needing, in the instant application of processing, being also more suitable for the realization on mobile device 1 with the speed advantage of its processing.
And above-mentioned open graphic package storehouse shading language is the language that drawing Application Program Interface (API)-opening graphic package storehouse mobile device 1 version (Open GL ES 2.0) of using on mobile device 1 provides, it is one and take C language as basic high-order shading language, it provides developer directly to control drawing pipeline is more, and modern 3D draws to draw and approaches the appearance that the surprising effect of outdoor scene all gives the credit to this specification.
And in step S2, because can being all converted to the color value of each passage of three primary colors (RGB) 0 to 255 in 0 to 1.0 scope, processes drawing chip 11, and cause error slightly, make some color value in drawing chip 11, have 1 error, as color value 127 is transformed into the interior meeting of drawing chip 11, be 128, but this error is not large to affecting experimental result, does not affect the data of actual measurement.Following illustrative experiment result.
The experiment picture that the present embodiment is used is Lai Natu (Lena), and its resolution is respectively 512x512,1024x1024,1536x1536 and 2048x2048.The platform of testing is the mobile phone iPhone 3GS of Apple and iPhone 4, and its hardware specification is as shown in table 1.
And under memory limitations for fear of mobile device 1, Open GL ES standard picture resolution is 2048x2048 to the maximum, that is the present embodiment experimental resolution is only taken to the reason of 2048x2048.
Table 1, iPhone 3GS and iPhone 4 hardware comparison sheets
Experimentally divide three parts, first relatively carries out the execution speed of FAST algorithm (FAST-GPU) on iPhone 3GS and iPhone 4 platforms with drawing chip 11.Second portion is relatively used drawing chip 11 to carry out FAST algorithm on iPhone 4, (FAST-NonGPU, that is use central processing unit 12) carries out FAST algorithm and the execution speed of carrying out SURF algorithm not use drawing chip 11.Third part is tested the execution speed of three kinds of Corner Detection with five image experiments with picture.
<comparative example 1>experiment on iPhone 3GS and iPhone 4
First relatively on iPhone 3GS and iPhone 4, use drawing chip 11 to carry out the speed of FAST algorithm, resolution is respectively the Lai Natu of 512x512,1024x1024,1536x1536 and 2048x2048, the unit of execution time is microsecond (μ s), and experimental result is as shown in table 2.
Table 2, iPhone 3GS and iPhone 4 execution results
By what test, found that FAST-GPU part velocity contrast on two platforms is seldom consistent, by aforesaid table 1 hardware comparison sheet, due to what use, be same model drawing chip 11, can find out that its processing power depends primarily on drawing chip 11 rather than central processing unit 12.
<comparative example 2>three Corner Detection of comparison on iPhone 4
The Lai Natu with experiment one is still used in the experiment of the second part, compares specifically the execution speed of FAST-GPU, FAST-NonGPU and tri-algorithms of SURF.
Its execution result is as shown in table 3, take 512x512 as example, approximately than FAST fast 3.58 times of FAST GPU, than the fast 59.6 times of left and right of SURF, and 2048x2048, than FAST fast 24 times of FAST GPU, more reach 468 times of left and right than SURF gap, by data, also can find out that larger its execution speed gap of resolution is also larger
Table 3, iPhone 4 execution time list
| Picture size | FAS T-GPU | FAS T-NonGPU | SURF |
| 512x512 | 64 | 229 | 3816 |
| 1024x1024 | 81 | 848 | 15128 |
| 1536x1536 | 114 | 1877 | 36301 |
| 2048x2048 | 146 | 3509 | 68271 |
<comparative example 3>different picture experiments
It is conventional that experiment three part is got five images experiments, and the figure that picture material is different carrys out the execution speed of three kinds of algorithms of comparison.Experimental data partly compares the mean value of five figure, and its result is as shown in table 4.
Table 4, the average execution time list of comparative group five pictures
| Picture size | FAST-GPU | FAST-NonGPU | SURF |
| 512x512 | 47~64 | 205 | 3240 |
| 1024x1024 | 63~81 | 787 | 13964 |
| 1536x1536 | 97~114 | 1756 | 31020 |
| 2048x2048 | 130~147 | 3121 | 63120 |
The result of experiment is compared with aforementioned Lai Natu, the picture using there is no too big-difference to the execution speed of drawing chip 11 computings, FAST-NonGPU part is only slow a little, and SURF gap is larger, but the difference that affect execution speed is still that the resolution of picture is big or small.
In sum, the present invention utilizes the characteristic of drawing chip multinuclear parallel calculation, multinuclear ground is carried out FAST Corner Detection algorithm and is detected a plurality of picture point to carry out Corner Detection simultaneously, can accelerate the speed that mobile device carries out image recognition, and be really presented in experimental result, therefore really can reach the present invention's object.
Should be understood that those skilled in the art can make various changes or modifications the present invention after having read above-mentioned instruction content of the present invention, these equivalent form of values fall within the application's appended claims limited range equally.
Claims (6)
1. accelerate a method for Corner Detection, on mobile device, utilize drawing chip to carry out, it is characterized in that, comprise:
(A) this drawing chip reads a two dimensional image;
(C) this drawing chip, according to a kind of the second procedure code of writing to open graphic package storehouse shading language, carries out Corner Detection in the mode of multinuclear parallel calculation to this two dimensional image, to find out angle point wherein.
2. the method for acceleration Corner Detection as claimed in claim 1, is characterized in that: this two dimensional image that step (A) reads is a color 2 D image, and the method also comprises the step (B) being executed between step (A) and step (C):
(B) this drawing chip, according to a kind of the first procedure code of writing to open graphic package storehouse shading language, carries out GTG processing in the mode of multinuclear parallel calculation to this color 2 D image, to produce a GTG two dimensional image; And
Step (C) is that this GTG two dimensional image is carried out to Corner Detection.
3. the method for acceleration Corner Detection as claimed in claim 1, it is characterized in that: this two dimensional image that step (A) reads is a GTG two dimensional image, and step (C) is that this GTG two dimensional image is carried out to Corner Detection.
4. the method for acceleration Corner Detection as claimed in claim 1, is characterized in that: the Corner Detection of step (C) is to adopt FAST Corner Detection algorithm.
5. the method for acceleration Corner Detection as claimed in claim 1, is characterized in that: this mobile device is a mobile phone or personal digital assistants.
6. a mobile device, comprises a drawing chip, and this drawing chip is carried out the method for the acceleration Corner Detection as described in any one claim in claim 1 to 5.
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| US11605212B2 (en) | 2013-05-23 | 2023-03-14 | Movidius Limited | Corner detection |
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Application publication date: 20140115 |