Image processing. Case Study. 2-diemensional Image Convolution. From a hardware perspective. Often massively yparallel.
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1 Case Study Image Processing Image processing From a hardware perspective Often massively yparallel Can be used to increase throughput Memory intensive Storage size Memory bandwidth -diemensional Image Convolution N For each pixel position in the MxMM image, the kernel value is multiplied with the underlying pixel value and those are added N to produce the output value: k, k xk m, k m hm m y, Edge detection and zero crossings with different kernel size A frame is added to avoid M border effects. Image processing is memory intensive!
2 Grain recognition Increasing filter size more calculations Grain recognition Increasing filter size more calculations Filter size 5 x 5 Edge detection 5 multiplications per pixel What datapath architecture? Hardware mapped, i.e. 5 multipliers + adds Single MAC (Multiply Accumulate) unit Adder tree structure of processor core 5 pixels read on each clock cycle Pipelined Adder Tree Hardware for one column each clock cycle Accumulator
3 Adder tree structure of processor core 5 pixels read on each clock cycle Datapath Chip, 993 Increased wordlength to keep precision and avoid overflow Guard bits in accumulator and truncated output m standard CMOS technology approx. 5 transistors die area, 8x6,5 mm -diemensional Image Convolution MxMM N Off-chip image memory Large High power How to use line memories Initial filling New line N Every pixel used in several calculations M ( N M ) ) Each pixel operation M Multi-level memory hierarchy can be used. + shift one pixel between memories Only one external memory read per pixel!
4 Memory Hierarchy, accesses Image memory off-chip N M Line memories N( M ) M M- with N words witk M words Scheme Image Line Kernel Image M (N-M+) Image line N M (N-M+) Kernel memories M Image kernel MN(N-M+) M (N-M+) Image line kernel N MN(N-M+) M (N-M+) Memory Hierarchy, energy Image memory off-chip,.8m N 6nJ/access.35m CMOS Kernel Line memories memories N( M ) M 4nJ/access Scheme M nj/access energy N= 4 Image 3.8J M = 5 Image line.j Wordlength = 6 Image kernel.j Image line kernel.4j Image processor without controller Tailored architecture in the datapath design Data out - 4x4 bits Compared to a TMS3C8 Multimedia Video Processor (MVP) Published bits address line Cyclic column storage APU 3 Control signals from controller Cache level 3 (5x6) Kernel moving one pixel to the right Processor core New column written to cache for each new pixel operation Processor core Processor core 3 System bus 5x8 bits Processor core 4 8 bits Designed: MVP: MHz 5MHz APU Line memories with pipelined registers level (5x56) Input buffer Large off-chip memories level (56x56) Unfilled memory New value feeded during elements each new pixel operation MVP: 4 parallel DSPs + master processor [3]. Each DSP unit contains one 6x6 bit multiplier, which can be split into two 8x8 bit multipliers
5 We have registers, why memories? D Flip-flop : 5µm Memory element : 3µm Memory Considerations Flip-flops vs. SRAM Alcatel Microelectronics.35µm CMOS technology process Process and library dependent but same trends.8 square mm Flip-flops Dual port memory Single port memory Double width memory Hardware Aspects of a Real-time Surveillance System memory elements Crossover approx bits for this technology
6 An Intelligent t Surveillance System The PhD Student Team Segmentation Morphology Labeling Feature extraction Tracking Object classification Tracked Objects Three PhD Students: Hongtu Jiang; Sensor interface and segmentation. PhD February 7 Input: Output: Video from stationary camera Tracked Objects Spec: Xilinx Virtex II-Pro Development Platform Resolution 3x4 5 frames per second Architectures for local decisions Embedded system requires real time and low power Fredrik Kristensen; System Overview, feature extraction and tracking PhD September 7 Hugo Hedberg, Morphology and labeling PhD April 8 References see: The end result System Segmentation algorithm Morph filter and labeling CAM Feature extraction Tracking Object size = 37 position = (56, 8) color_ = 37
7 Segmentation Background Modeling P ( x,y ) P ( x,y ) P 3 ( x,y ) P n ( x,y ) Sample background environment in the digital lab 3 n Consecutive Video Frames Detects motion Generates a noisy binary mask due to errors caused by camera, fast light changes etc. B Pixel values taken from same location in consecutive video frames looks like a Gaussian distribution in RGB color space, i.e. even when nothing is happening it s not a single value R 6 G Multi-modal l Background Video segmentation based on Gaussian Mixture background Model (Stauffer and Grimson) 3 Detect moving object in image sequences 5 B More complicated background pixels such as lake surface and swaying trees have the property of two distributions requiring two Gaussian to model G R 5 Motion Detection Each pixel over time is a pixel process, modeled by Gaussian distributions Each background object correspond to one Gaussian GMM is robust for handling multi-modal background situations swaying trees lake surface etc.
8 Hardware Implementation Considerations Sorting of Gaussians RGB pixel stream Gaussian Parameter Memory Memory Bottleneck Matching Network Bitmask Decision Network Labeling Post-processing Fully parallel and pipelined design aiming for one pixel per clock cycle Most important design parameter: High memory bandwidth: 5 variables/pixel + RGB, i.e. 5 parameters for each Guassian distribution x 3 Labeled Bitstream Hardware Implementation ti Considerations Decoding + Buffer Sorting of Gaussians RGB pixel stream Gaussian Parameter Memory Encoding Matching Network Bitmask Decision Network Labeling Post-processing Idea: Neighbouring pixels have similar parameters Use some form of Run Length Encoding Labeled Bitstream Simulations show reduction of memory access by >5% Memory bandwidth reduction Kodak CMOS Sensor DDR SDRAM Parameter Reforming Matching & Sorting Parameter Saving Bitmask Variance x.5 Mean Two Overlapping Gaussian Distributions (Red Cube) Gaussian Distribution represented as a Cube Cons: more noise is generated in the binary mask Pros: If Gaussians with 8% overlap is regarded as the same Gaussian, more than 6% memory saving can be expected Memory Reduction Results reduction Memory bandwidth r Frame reduction memory bandwidth r Threshold Different memory bandwidth savings with different threshold Too low threshold results in clustered noise that can not be removed by morphology
9 Memory Reduction Results Segmentation results Segmentation with different threshold Results after morphology Clustered noise Shadow reduction is important! System Segmentation algorithm Morph filter and labeling CAM Feature extraction Tracking Original image Output image after segmentation Object size = 37 position = (56, 8) color_ = 37
10 Segmented input image Output t image after clustering Morphology Greek morphe shape, ology the study of The study of shapes Applies to many number representations In our application, only binary input is considered Structuring t element (SE) Arbitrary binary image Sliding window / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / / 3x3 SE Origin Morphology Morphology Similar to convolution but more on the logic level Important operations Erosion: Shrinks (minimum) Dilation: Expands (maximum) Opening (erosion followed by dilation): Noise reduction Closing (dilation followed by erosion): Reconnect split objects SE Opening: Erosion followed by dilation Noise reduction Erosion Dilation
11 Morphology, erosion ( and ) Morphology, dilation ( or ) = = Morphology, sliding window Direct-mapped implementation ff ff 3 FIFO 4,5,6 Index image ff 8 ff 9,, FIFO ff 4 ff 5 Input 6,..,36 Erosion / Dilation Morphology, sliding window Direct-mapped implementation 3 ff ff 4 FIFO 5,6,7 Index image ff 9 ff,,3 FIFO ff 5 ff 6 Input 7,8,9 Erosion / Dilation Output Output
12 Morphology, sliding window Decomposition Direct-mapped implementation 3 ff ff 4 5,6,7 FIFO Index image ff 9 ff 3 3,3,33 FIFO ff 35 ff 36 Input -,-,- Erosion / Dilation B B B SE xse = width height ht SE width SE h eight Output Pros: Supports arbitrary SEs Cons: Unsuitable for large SEs Compare to D- Convolution Architecture! Morphology, erosion ( and ) Morphology, erosion ( and ) = =
13 Decomposition st step Decomposition nd step = = Morphology Morphology Architecture ff Architecture ff Row mem...,,,, In,,,... + =SE =3 width..., Out,,...,,...,...,...,...,... In + =SE width + =SE height Out Stage : Number of ones in the same row Stage : Number of ones in the same row Stage : Number of consecutive lines with SE width ones SE width SE width SE heig ght = SE width x SE height
14 Architecture Morphology ff Row mem Duality A B A B A B A B In + =SE width + =SE height Out Stage : Number of ones in the same row Stage : Number of consecutive lines with SE width ones A B Duality, example A B A B ( A B) Duality A B A B A B A B Both operations on same hardware by inverting the input and output streams.
15 Morphology Morphology In Architecture Operation Mu ux South & East W ff West N + =SE width + Row mem North =SE height Mu x Operation Out In our application Noise reduction Reconnect split objects Low complexity architecture with low memory requirements Stage : Inverts if dilation is performed Stage : Number of ones in the same row Stage : Number of consecutive lines with SE width ones Stage 3: Inverts if dilation is performed Duality Prototype t Embedded Hardware Platform DDR memory Sensor Segm. Morph FIFO Label Feat. Mem Feat. Mem Bus SW Mem DISPLAY VGA CTRL VGA Memory Label Mem Label Mem PPC Read- & Drawboxes FPGA-chip Result Mem
16 Digital Holography Transposition o Application Microscope based on Digital Holography Digital Holography Digital image sensor A digital image sensor replaces the photographic film Interference pattern, reference and object light is captured separately Computer algorithm generates the image Reference Light Object Object Light Laser Advantage - Phase information Makes transparent objects visible Unwrapped phase Amplitude Refraction index Head of a greenfly Advantage Focus All focus information in one single recording mm
17 Phase Holographic Imaging cell analyzer to envision and monitor transparent living cells in vitro, in their growth environment without the need for artificial staining and makes quantification of a large number of parameters possible to perform in real-time Time-lapse study of cell division: Wilms tumor is a rare type of kidney cancer that affects children. Pseudo 3D-image of cells generated from the phase information. Time-lapse study: a sequence of consequtive images Important issues Processing and efficiency Processor vs. FPGA/ASIC Memory access and throughput FFT Selection
18 XSTREAM - D FFT A two-dimensional FFT can be evaluated by Applying a one-dimensional FFT over the rows Applying a one-dimensional FFT over the column of the result Burst read Column access is slow Transpose the memory between operations and only operate on rows Memory and throughput Overhead = (Setup+N) / N N= Overhead 8% N=3 Overhead % Burst access N- XSTREAM - Transpose Divide the matrix into macro-blocks (3x3) Transpose macro-blocks individually Relocate transposed macro-blocks Divided Transpose
19 Divided Transpose Divided Transpose Divided Transpose XSTREAM - D FFT A rather small burst size gives a large gain!
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