Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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A Design of High-speed Phase Calculator for 3D Depth Image Extraction from TOF Sensor Data

TOF 센서용 3차원 Depth Image 추출을 위한 고속 위상 연산기 설계

  • 구정윤 (금오공과대학교 전자공학과) ;
  • 신경욱 (금오공과대학교 전자공학부)
  • Received : 2012.11.14
  • Accepted : 2012.12.10
  • Published : 2013.02.28
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Abstract

A hardware implementation of phase calculator for extracting 3D depth image from TOF(Time-Of-Flight) sensor is described. The designed phase calculator, which adopts a pipelined architecture to improve throughput, performs arctangent operation using vectoring mode of CORDIC algorithm. Fixed-point MATLAB modeling and simulations are carried out to determine the optimized bit-widths and number of iteration. The designed phase calculator is verified by FPGA-in-the-loop verification using MATLAB/Simulink, and synthesized with a TSMC 0.18-${\mu}m$ CMOS cell library. It has 16,000 gates and the estimated throughput is about 9.6 Gbps at 200Mhz@1.8V.

TOF(Time-Of-Flight) 센서에 의해 획득된 정보로부터 3차원 깊이 영상(depth image)을 추출하기 위한 위상 연산기의 하드웨어 구현을 기술한다. 설계된 위상 연산기는 CORDIC(COordinate Rotation DIgital Computer) 알고리듬의 vectoring mode를 이용하여 arctangent 연산을 수행하며, 처리량을 증가시키기 위해 pipelined 구조를 적용하였다. 고정 소수점 MATLAB 모델링과 시뮬레이션을 통해 최적 비트 수와 반복 횟수를 결정하였다. 설계된 위상 연산기는 MATLAB/Simulink와 FPGA 연동을 통해 하드웨어 동작을 검증하였으며, TSMC 0.18-${\mu}m$ CMOS 셀 라이브러리로 합성하여 약 16,000 게이트로 구현되었고, 200MHz@1.8V로 동작하여 9.6 Gbps의 연산 성능을 갖는 것으로 평가되었다.

Keywords

References

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