Implementation of the Robot Ego-Motion Estimation Algorithm with FPGA Circuits*

A task-oriented implementation of the SoC system in FPGA technology is described. The goal of the system is to identify the ego-motion of a mobile device (e.g. a mobile robot) equipped with a single camera. Solution involves partitioning of different portions of the used algorithm into software and dedicated hardware. A detailed description of the hardware part is given. Trade-offs of the hardware/software decomposition are discussed. Resources required and performance are specified and compared with alternative solutions.