{"id":"https://openalex.org/W2275691029","doi":"https://doi.org/10.1109/reconfig.2015.7393313","title":"FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking","display_name":"FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2275691029","doi":"https://doi.org/10.1109/reconfig.2015.7393313","mag":"2275691029"},"language":"en","primary_location":{"id":"doi:10.1109/reconfig.2015.7393313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/reconfig.2015.7393313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030358919","display_name":"Arif Irwansyah","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Arif Irwansyah","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082886810","display_name":"Omar W. Ibraheem","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Omar W. Ibraheem","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019600837","display_name":"Jens Hagemeyer","orcid":"https://orcid.org/0009-0005-9943-8081"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Hagemeyer","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028498307","display_name":"Mario Porrmann","orcid":"https://orcid.org/0000-0003-1005-5753"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mario Porrmann","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090792763","display_name":"Ulrich Rueckert","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Rueckert","raw_affiliation_strings":["Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, CITEC, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Cognitronics and Sensor Systems Group, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030358919"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":1.3093,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87181003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13579","display_name":"Image and Video Stabilization","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.8468170166015625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7950188517570496},{"id":"https://openalex.org/keywords/hough-transform","display_name":"Hough transform","score":0.6461952924728394},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6226074695587158},{"id":"https://openalex.org/keywords/stratix","display_name":"Stratix","score":0.4849574565887451},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4344756007194519},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4265168309211731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4188501238822937},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39783012866973877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38294562697410583},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3413320481777191},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.13380956649780273},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1144830584526062}],"concepts":[{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.8468170166015625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7950188517570496},{"id":"https://openalex.org/C200518788","wikidata":"https://www.wikidata.org/wiki/Q195076","display_name":"Hough transform","level":3,"score":0.6461952924728394},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6226074695587158},{"id":"https://openalex.org/C2776277307","wikidata":"https://www.wikidata.org/wiki/Q22074755","display_name":"Stratix","level":3,"score":0.4849574565887451},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4344756007194519},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4265168309211731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4188501238822937},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39783012866973877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38294562697410583},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3413320481777191},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.13380956649780273},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1144830584526062}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/reconfig.2015.7393313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/reconfig.2015.7393313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.librecat.org:2901108","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2901108","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Irwansyah A, Ibraheem OW, Hagemeyer J, Porrmann M, R\u00fcckert U. FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking. In:  &lt;em&gt;ReConFigurable Computing and FPGAs (ReConFig), 2015 International Conference on&lt;/em&gt;. IEEE;  2015: 1-8.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W29140886","https://openalex.org/W1494411991","https://openalex.org/W2074239553","https://openalex.org/W2076909983","https://openalex.org/W2095905764","https://openalex.org/W2115259674","https://openalex.org/W2122188409","https://openalex.org/W2133102330","https://openalex.org/W2301577677","https://openalex.org/W2533040210","https://openalex.org/W2535077712","https://openalex.org/W6629582822","https://openalex.org/W6679855945"],"related_works":["https://openalex.org/W2030098947","https://openalex.org/W1509155667","https://openalex.org/W2518118925","https://openalex.org/W3208151864","https://openalex.org/W1564576805","https://openalex.org/W4254372399","https://openalex.org/W1974740638","https://openalex.org/W2050127689","https://openalex.org/W4310880131","https://openalex.org/W2523825820"],"abstract_inverted_index":{"Shape-based":[0],"object":[1],"detection":[2,20],"and":[3,36,88,182],"recognition":[4],"are":[5],"frequently":[6],"used":[7,49,97],"methods":[8],"in":[9,116,165],"the":[10,22,66,77,113,117,121,134],"field":[11],"of":[12,85,149,157,203],"computer":[13],"vision.":[14],"A":[15],"well-known":[16],"algorithm":[17,30,79],"for":[18,65],"circle":[19],"is":[21,96,108,130],"Circular":[23],"Hough":[24,28],"Transform":[25,29],"(CHT).":[26],"This":[27],"needs":[31],"a":[32,61,72,92,125,153,192,200],"huge":[33],"memory":[34,115],"space":[35],"large":[37],"computational":[38],"resources.":[39,137],"Field":[40],"Programmable":[41],"Gate":[42],"Array":[43],"(FPGA)-based":[44],"hardware":[45],"accelerators":[46],"can":[47,142],"be":[48],"to":[50,98,110,175,187],"efficiently":[51],"handle":[52,143],"such":[53],"compute-intensive":[54],"applications.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59,70],"present":[60],"resource-efficient":[62],"FPGA-based":[63],"architecture":[64,107],"CHT":[67,78,118,140],"algorithm.":[68],"Additionally,":[69],"introduce":[71],"unique":[73],"approach":[74],"by":[75],"combining":[76],"with":[80,146,159],"graph":[81],"clustering.":[82],"The":[83,138],"combination":[84],"these":[86],"algorithms":[87],"their":[89],"implementation":[90,190,198],"on":[91,178,191],"Xilinx":[93],"Virtex-4":[94],"FPGA":[95,136],"support":[99],"real-time":[100],"vision-based":[101],"multi-robot":[102,144],"tracking.":[103],"Furthermore,":[104],"an":[105,147,188],"efficient":[106],"proposed":[109,139],"significantly":[111,132,171],"reduce":[112],"required":[114,135],"module.":[119],"For":[120],"Graph":[122],"Clustering":[123],"module,":[124],"multiplier-less":[126],"distance":[127],"calculation":[128],"unit":[129],"implemented,":[131],"reducing":[133],"design":[141,169],"localization":[145],"accuracy":[148],"97":[150],"%,":[151],"supporting":[152],"maximum":[154],"video":[155],"resolution":[156],"1024x1024":[158],"128":[160],"frames":[161],"per":[162],"second,":[163],"resulting":[164],"134":[166],"MPixel/s.":[167],"Our":[168],"provides":[170],"higher":[172],"throughput":[173],"compared":[174],"other":[176],"implementations":[177],"embedded":[179],"processors,":[180],"FPGAs,":[181],"general":[183],"purpose":[184],"CPUs.":[185],"Compared":[186],"OpenCV":[189],"3.2":[193],"GHz":[194],"desktop":[195],"CPU,":[196],"our":[197],"achieves":[199],"speed-":[201],"up":[202],"more":[204],"than":[205],"5.7.":[206]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
