An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots

Table 3

Synthesis results (chip ep2c35f672c6).

Implemented core	LC 33216	MB 483840	DSP 18×18 35	Freq. 250 MHz
Entire	9953	359352	8	10.2
Architecture	(30.0%)	(74.3%)	(22.8%)
Image	2161	57400	0	45.31
Acquisition	(6.5%)	(11.86%)	(0%)
Gray scale	498	384	1	45.31
Conversion	(1.5%)	(0.08%)	(1%)
Neighborhood	681	16256	0	104.12
Load	(2.05%)	(3.36%)	(0%)
Spatial	1853	16256	3	104.12
Convolution	(5.0%)	(3.36%)	(5%)
Background	16	0	0	250
Subtraction	(0.05%)	(0%)	(0%)
Segmentation	15	0	0	250
	(0.05%)	(0%)	(0%)
Erosion	722	0	0	321.3
	(2.17%)	(0%)	(0%)
Center of	2521	0	0	10.2
mass	(7.59%)	(0%)	(0%)
NiosII	3615	285696	4	250.0
	(10.9%)	(59.0%)	(6%)