TY - JOUR
T1 - Accelerated and optimized covariance descriptor for pedestrian detection in self-driving cars
AU - Abid, Nesrine
AU - Chiheb Ammari, Ahmed
AU - Al Maashri, Ahmed
AU - Abid, Mohammed
AU - Awadallah, Medhat
N1 - DBLP License: DBLP's bibliographic metadata records provided through http://dblp.org/ are distributed under a Creative Commons CC0 1.0 Universal Public Domain Dedication. Although the bibliographic metadata records are provided consistent with CC0 1.0 Dedication, the content described by the metadata records is not. Content may be subject to copyright, rights of privacy, rights of publicity and other restrictions.
PY - 2023/4/28
Y1 - 2023/4/28
N2 - Self-Driving vehicles are expected to thrive in the coming years. These vehicles are designed to analyze the environment around them in real-time to identify obstacles and hazards. One of the most important aspects of designing a self-driving vehicle is to preserve the safety of pedestrians. This requires accurate and rapid pedestrian detection, which is a key operation in various other applications including video surveillance and assisted living. The covariance descriptor is one of the most efficient descriptors used in detecting pedestrians. However, the descriptor is compute-intensive; rendering it less favorable for real-time applications. This paper proposes an accelerated and optimized implementation of the descriptor. Instead of mapping the entire descriptor to a hardware accelerator, we opt for a heterogeneous architecture. In particular, compute-intensive components of the descriptor are accelerated on hardware, while the other components are executed on an embedded processor. The proposed architecture combines both speed and flexibility while being watchful of precious hardware resources. This architecture was validated on a Zynq SoC platform, which hosts FPGA fabric along with an ARM processor. The results of executing the descriptor on the platforms show a performance gain of up to 13.52 × when compared to pure software implementation of the descriptor.
AB - Self-Driving vehicles are expected to thrive in the coming years. These vehicles are designed to analyze the environment around them in real-time to identify obstacles and hazards. One of the most important aspects of designing a self-driving vehicle is to preserve the safety of pedestrians. This requires accurate and rapid pedestrian detection, which is a key operation in various other applications including video surveillance and assisted living. The covariance descriptor is one of the most efficient descriptors used in detecting pedestrians. However, the descriptor is compute-intensive; rendering it less favorable for real-time applications. This paper proposes an accelerated and optimized implementation of the descriptor. Instead of mapping the entire descriptor to a hardware accelerator, we opt for a heterogeneous architecture. In particular, compute-intensive components of the descriptor are accelerated on hardware, while the other components are executed on an embedded processor. The proposed architecture combines both speed and flexibility while being watchful of precious hardware resources. This architecture was validated on a Zynq SoC platform, which hosts FPGA fabric along with an ARM processor. The results of executing the descriptor on the platforms show a performance gain of up to 13.52 × when compared to pure software implementation of the descriptor.
KW - Co-design
KW - Covariance descriptor
KW - FPGA
KW - Hardware accelerator
KW - High-level synthesis
KW - Pedestrian detection
KW - Zynq SoC
UR - http://www.scopus.com/inward/record.url?scp=85153785029&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85153785029&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/c4860d27-fd77-30cb-8b41-95a7248e2e08/
U2 - 10.1007/s10617-023-09273-9
DO - 10.1007/s10617-023-09273-9
M3 - Article
AN - SCOPUS:85153785029
SN - 0929-5585
VL - 27
SP - 139
EP - 163
JO - Design Automation for Embedded Systems
JF - Design Automation for Embedded Systems
IS - 3
M1 - 3
ER -