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

Table 2

Different Flex-SURF+ configurations.

Number of DEs	DE lines	DEs Per DEline	Virtex-5 Slices	Determinant calc. time (ms)
16	4	4	2243	134
32	4	8	4269	91
64	8	8	7577	70