International Journal Of Coastal, Offshore And Environmental Engineering(ijcoe)

International Journal Of Coastal, Offshore And Environmental Engineering(ijcoe)

Hardware-Accelerated Image Moment Computation for UUV Navigation

Document Type : Original Research Article

Author
Mehrnaz Monajati
Department of Electrical and Computer Engineering, Graduate University of Advanced Technology, Kerman, Iran
10.22034/ijcoe.2024.447486.1066
Abstract
Image moments are pivotal in the control of Unmanned Underwater Vehicles (UUVs), empowering them to extract valuable insights from onboard camera images, identify objects, navigate autonomously, and adapt to evolving environmental conditions. Integrating image moment analysis into UUV control systems amplifies their effectiveness in exploration, research, surveillance, and various underwater applications. However, the computational demands of moment calculation algorithms pose challenges for real-time implementation, particularly with higher moment orders. In this study, we propose a novel structure based on systolic arrays, leveraging pipeline technique, to compute moments up to the 14th order of grayscale images in real time. Implemented in 45nm CMOS technology, our design demonstrates impressive performance, with each cell capable of computing the 14th order moment of a 1024×1024 image at a remarkable rate of 954 fps. Moreover, our design boasts low power consumption, registering at only 3.254 mW, demonstrating its potential for enhancing UUV control systems for diverse underwater applications.
Keywords
Unmanned Underwater Vehicles (UUVs)
Image moment
Pipeline
Systolic array
Real time
Subjects