Browsing by Author "Bendaoudi, Hamza"

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    FPGA design of a real-time obstacle detection system using stereovision
    (IEEE, 2012) Bendaoudi, Hamza; Khouas, Abdelhakim; Cherki, Brahim
    Obstacle detection using stereovision is an important issue in intelligent vehicle and robot navigation, especially for the Advanced Driver Assistance Systems. This paper presents real-time obstacle detection system designed and implemented on single Field Programmable Gate Array (FPGA). The proposed hardware architecture combines stereo vision algorithms to compute the disparity map, V-disparity image, and Hough transform for obstacle detection. Considering the particular aspect of the V-disparity image and the real-time constraint, the Hough transform is only applied to detect the obstacles corresponding lines. The proposed system was tested in indoor environment using Virtex-II FPGA based prototyping board. For 640×480 pixels images, the proposed system can treat up to 180 frames/s when running at full rate, with a minimum detection time of 5.5 ms
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    FPGA implementation of the V-disparity based obstacles detection approach
    (IEEE, 2013) Irki, Zohir; Bendaoudi, Hamza; Devy, Michel; Khouas, Abdelhakim
    In this paper we present an implementation of the whole V-disparity obstacles detection approach on an FPGA component. This approach is based on the use of stereoscopic images for the construction of an image called the V-disparity image from which obstacles can be easily extracted using a particular Hough transform. FPGA represents a good alternative for the use of the approach on an embedded system. The implementation of the approach on an FPGA component requires parallelizing all its steps which are the stereoscopic matching, the V-disparity image construction and obstacles extraction using a unidirectional Hough transform. These steps have been described with VHDL language using the ISE 9.2 software. Finally, the entire approach has been implemented on a Virtex-II type XC2V1000 FG456-4 placed on an RC200 board
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    Stereo vision IP design for FPGA implementation of obstacle detection system
    (IEEE, 2013) Bendaoudi, Hamza; Khouas, Abdelhakim