Name		Name	Last commit message	Last commit date
parent directory ..
Controller.v		Controller.v
Grayscaler.v		Grayscaler.v
README.md		README.md
RWM_1.v		RWM_1.v
RWM_2.v		RWM_2.v
camera.v		camera.v
descriptor.v		descriptor.v
display.v		display.v
filter5x5.v		filter5x5.v
image.v		image.v
image2.v		image2.v
keypoints.v		keypoints.v
matcher.v		matcher.v
sobel_filter.v		sobel_filter.v
stitcher.v		stitcher.v

README.md

Top Level Design

The top level design is divided into five stages:

Preprocessing stage
Filter stage
Keypoint stage
Keypoint matching stage
Frame blending stage

Preprocessing Stage

A detailed veiw of this stage of operation is shown in figure:

Preprocessing stage

To emulate the working of camera sensors, image.v and image2.v are used, which inputs images corresponding to left and right camera sensor respectively. RWM_1.v is a read-write memory that stores the 8 bit RGB image. When it is WRITE mode, the RGB image pixel data is written into the memory. After all the pixel values are stored, the memory is put in READ mode. In READ mode, each pixel value is read sequentially from the memory.

Filter Stage

A detailed veiw of this stage of operation is shown in figure:

Filter stage

Keypoint Stage

A detailed veiw of this stage of operation is shown in figure:

Keypoint stage

Keypoint Matching Stage

A detailed veiw of this stage of operation is shown in figure:

Keypoint matching stage

Frame Blending Stage

A detailed veiw of this stage of operation is shown in figure:

Frame blending stage