Object Recognition and Pose Estimation on Embedded Hardware: SURF-Based System Designs Accelerated by FPGA Logic

Table 1

Parameters of the first experiment.

Flex-SURF+ configuration
DE lines	8
DEs per DE line	8
Database
Image resolution	320 × 240
Number of images	16
Number of objects	9
Number of features	856
Live images
Image resolution	320 × 240
Number of images	76
Number of object instances	73
Average live features	50