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The Embedded Vision Systems (EVS) group works within the Computer Vision Laboratory, Department of Automatic Control and Robotics, Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering (EAIiIB), AGH University of Science and Technology in Krakow, Poland.

We are involved in research on implementation of various types of vision systems, which can operate in real time even for high-resolution video streams and sampling – up to UHD (3840 x 2160 @ 60 fps) – while maintaining low power consumption. As hardware platforms, we use reprogrammable FPGAs (Field Programmable Gate Array), reprogrammable SoCs (System on Chip) such as Zynq SoC, Zynq UltraScale+ MPSoC (Multi Processor System on Chip), or embedded GPU (Graphic Processing Unit) solutions such as Nvidia’s Jetson series. We are also interested in neuromorphic platforms.

Such systems are used in applications requiring very fast and efficient processing of video data so that the information obtained from them can be used almost immediately to support decision-making or control. Current research focuses on the following areas:

– control of autonomous, unmanned flying vehicles (drones, UAVs, UAS),

– vision algorithms for autonomous vehicles (self-driving cars) and Advanced Driver Assistance Systems (ADAS),

object tracking and trajectory determination,

– use of LiDAR data for object detection and environment mapping,

– segmentation of foreground and moving objects, as well as elements of advanced video surveillance systems (AVSS – Advanced Video Surveillance Systems),

– implementation of embedded AI methods – deep convolutional neural networks and spiking neural networks.

Since 2011, members of the group have been co-organizers of the international conference DASIP (The Conference on Design and Architectures for Signal and Image Processing), cooperating with scientists from Germany, France, Italy, Spain, Portugal and Canada. We also present our research at the ARC (International Symposium on Applied Reconfigurable Computing), ICCVG (International Conference on Computer Vision and Graphics), SPA (Signal Processing Algorithms, Architectures, Arrangements and Applications), KKA (National Conference on Automation), FedCSIS (Federated Conference on Computer Science and Information Systems) conferences and in Journal of Real-Time Image Processing, Journal of Signal Processing and Sensors.

The team members teach in the following courses: Digital Image Processing and Vision Systems (Polish and English), Reconfigurable Systems, Structured and Object-Oriented Programming, Advanced Object-Oriented Programming, Algorithms and Data Structures, Architectures of Vision Systems, Image Compression and Coding Methods, Software-Hardware Implementation of Algorithms (Hardware-Software Vision Systems), Perception Systems and Algorithms in Autonomous Vehicles, Parallel Computing in CUDA, Biometrics, and HLS tools. Every year, several bachelor and master theses are defended as a result of cooperation between staff and students. In addition, our team closely cooperates with the AVADER Student Research Group, which brings together students interested in embedded vision systems, drones and autonomous vehicles.

TEAM MEMBERS

Marek_Grogon_evs_s

Marek Gorgoń

professor

I specialise in computer vision architectures, with particular emphasis on real-time systems, FPGA reconfigurable devices, embedded and intelligent systems. More broadly, my interests include many issues in the areas of automation and robotics, electronics and applied computer science. I am the author of 120 scientific publications.

TomaszKryjak_evs_s

Tomasz Kryjak

PhD

I am interested in embedded vision systems for autonomous vehicles, drones and advanced automated video surveillance. I implement these in FPGAs and reprogrammable heterogeneous devices. I also work with event cameras, neuromorphic computing and embedded AI systems.

bublinski1

Zbigniew Bubliński

PhD

I am interested in optimization of algorithms for digital image processing and analysis and embedded vision systems. I teach courses on vision systems and embedded vision systems.

P_Pawlik2

Piotr Pawlik

PhD

I am interested in image analysis and processing with a particular focus on the topic of feature points. I teach courses in computer science and vision systems.

DominikaPrzewlocka_evs_s

Dominika Przewłocka-Rus

MSc

I am interested in artificial intelligence solutions, in particular the use of neural networks in embedded vision systems. I deal with implementation of such algorithms in FPGAs and reprogrammable heterogeneous computing devices.

MarcinKowalczyk_evs_s

Marcin Kowalczyk

MSc

My interests are focused on real-time vision systems for autonomous robots. In my research, I use heterogeneous computing platforms and high-level environments enabling the modelling of algorithms and designed systems. My research also concerns the use of neuromorphic event sensors in modern vision data processing systems that require the development of new data processing methods.

HubertSzolc_evs_s

Hubert Szolc

MSc

I am interested in the control of autonomous vehicles based primarily on visual information. I use FPGAs and heterogeneous computing platforms for hardware implementation of the algorithms.

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Mateusz Wąsala

MSc

I am interested in embedded vision systems, in particular SLAM algorithms for ambient map generation and positioning of unmanned aerial vehicles. I also design and build equipment for these vehicles.

PhD CANDIDATES
Krzysztof_Blachut_evs_s

Krzysztof Błachut

MSc

My research interests include embedded vision systems in flying and driving autonomous vehicles and in video surveillance systems. I use heterogeneous computing platforms for their implementation, with a particular focus on FPGAs.

PiotrKonopka_evs_s

Piotr Konopka

MSc

I carried out my bachelor's and master's theses in the field of embedded vision systems as a member of the AVADER Student Research Group. Currently, as a PhD student, I represent the university at CERN, where I work on the data acquisition and processing system for the ALICE experiment.

Joanna_Stanisz_evs_s

Joanna Stanisz

MSc

My interests include object detection and segmentation based on data from video and LiDAR sensors. The implementation of the developed algorithms is done on FPGAs and GPUs.

Konrad_Lis_evs_s

Konard Lis

MSc

I am interested in embedded perception systems, in particular for autonomous vehicles. I use FPGAs, heterogeneous devices and GPUs to implement the algorithms.

Michal_Danilowicz_evs_s

Michał Daniłowicz

MSc

I am interested in control systems based on computer vision and artificial intelligence, in particular object detection and tracking. I investigate the possibility of their implementation on platforms such as GPUs and FPGAs.

Michal_Machura_20_21_evs_s

Michał Machura

MSc

I am interested in the topic of deep neural networks. I am involved in the design of architectures oriented towards hardware implementation, as well as their acceleration using FPGAs.

Piotr_Wzorek_evs_s

Piotr Wzorek

MSc

I am interested in vision systems, deep neural networks and other artificial intelligence algorithms. I work on their hardware acceleration on embedded, GPU and FPGA platforms.

BSc and MSc Candidates
Anna_Kulińska_evs_s

Anna Kulińska

BSc

Master thesis: ATLAS Local Trigger Interface - firmware development, verification and testing.
Supervisor: Tomasz Kryjak, PhD

Maciej_Talar_evs_s

Maciej Talar

MSc

Master thesis: Hardware-in-the-loop simulation for unmanned aerial vehicles applications verification.
Supervisor: Tomasz Kryjak, PhD

Konrad_Wajda_20_21_evs_s

Konrad Wajda

MSc

Master thesis: 3D reconstruction with an event camera.
Supervisor: Tomasz Kryjak, PhD

Jakub_Wozniak_evs_s

Jakub Woźniak

MSc

Master thesis: Object detection using an event camera.
Supervisor: Tomasz Kryjak, PhD

MSc Candidates

Kamil_Bialik

Kamil Bialik

BSc

Master thesis: High-speed item counting on a conveyor belt using an event camera.
Supervisor: Tomasz Kryjak, PhD

IMG_0590

Damian Cholewa

BSc

Master thesis: Perception and control system of an autonomous vehicle model in the CARLA simulator.
Supervisor: Tomasz Kryjak, PhD

Artur_Cyba_eve_s

Artur Cyba

BSc

Master thesis: Autonomous drone racing control based on visual information.
Supervisor: Tomasz Kryjak, PhD

Michał_Knap_eve_s

Michał Knap

BSc

Master thesis: Autonomous vehicle control using visual information and a detection-segmentation convolutional neural network.
Supervisor: Tomasz Kryjak, PhD

Sylwia_Kuros_eve_s

Sylwia Kuros

BSc

Master thesis: Object classification using deep and quantum neural networks.
Supervisor: Tomasz Kryjak, PhD

Jacek_Lichwa_eve_s

Jacek Lichwa

BSc

Master thesis: Traffic sign classification with event-based data and Spiking Convolutional Neural Networks.
Supervisor: Tomasz Kryjak, PhD

DSC_0595

Paweł Miera

BSc

Master thesis: Vision-based drone navigation in GPS-denied environments.
Supervisor: Tomasz Kryjak, PhD

tomasz_moleda_eve_s

Tomasz Molęda

BSc

Master thesis: A low-latency test platform using signal processing acceleration in an FPGA.
Supervisor: Tomasz Kryjak, PhD

Dawid_Skoczny eve_s

Dawid Skoczny

BSc

Master thesis: Implementation of a 3D surround view system using images from multiple cameras on a hardware platform.
Supervisor: Tomasz Kryjak, PhD

kamil_wrzesniak_evs_s

Kamil Wrześniak

BSc

Master thesis: Traffic light detection and recognition using video and event data.
Supervisor: Tomasz Kryjak, PhD

BSc Candidates

Maciej_Baczmanski_eve_s

Maciej Baczmański

Bachelor thesis: Object detection using vision and depth sensors and the NVIDIA Jetson eGPU platform.
Supervisor: Tomasz Kryjak, PhD

Mariusz_Grabowski_eve_s

Mariusz Grabowski

Bachelor thesis: Hardware implementation of rectification and disparity map computation with the SGM method for a 4K video stream.
Supervisor: Tomasz Kryjak, PhD

Kamil_Jeziorek_eve_s

Kamil Jeziorek

Bachelor thesis: Traffic sign detection and recognition using event camera image reconstruction.
Supervisor: Tomasz Kryjak, PhD

Balibna_Molerus_eve_s

Balbina Molerus

Bachelor thesis: Road segmentation and detection of selected horizontal signs using a vision sensor and the NVIDIA Jetson eGPU platform.
Supervisor: Tomasz Kryjak, PhD

Wojciech_Pelka_eve_s

Wojciech Pełka

Bachelor thesis: Traffic signs detection and recognition using an event camera.
Supervisor: Tomasz Kryjak, PhD

Jakub_Prokop_eve_s

Jakub Prokop

Bachelor thesis: Image classification with graph neural networks.
Supervisor: Tomasz Kryjak, PhD

krzysztof_słomski_eve_s

Krzysztof Słomski

Bachelor thesis: Time optimization of a racing drone flight over a closed track using reinforcement learning.
Supervisor: Tomasz Kryjak, PhD

Robert_Synoczek_eve_s

Robert Synoczek

Bachelor thesis: Embedded system for object segmentation and detection implemented on the Zynq SoC platform.
Supervisor: Tomasz Kryjak, PhD

karol_talaga_2_evs_s

Karol Talaga

Bachelor thesis: Object detection, recognition and tracking on a football pitch using a vision system.
Supervisor: Tomasz Kryjak, PhD

PUBLICATIONS (2018-2022)
RESEARCH PROJECTS

External:

  • 2020-2022 – „The development of solutions using modern vision sensors (event cameras) for applications related to autonomous, unmanned aerial vehicles” – an AGH project within the framework of Initiative for Excellence – Research University. Project leader: Marek Gorgoń, Contractors: EVS group
  • 2017-2021 – „The development of computing resources organization in latest generation of heterogeneous reconfigurable devices enabling real-time processing of UHD/4K video stream” – grant no. 2016/23/D/ST6/01389, National Science Centre, Poland (Sonata 12). Project leader: Tomasz Kryjak, Contractors: Dominika Przewłocka-Rus, Marcin Kowalczyk, Piotr Janus, Krzysztof Błachut, Hubert Szolc, Mateusz Wąsala, Piotr Ciarach
  • 2015-2016 – „A functional model of a machine with a vision system for scarification and evaluation acorns liveness based on automatic recognition of the topography of mummification changes” – National Center for Research and Development project, part of the Applied Research Program. Contractors: Marek Gorgoń, Tomasz Kryjak
  • 2011-2013 –  „Reconfigurable implementation of hardware modules for processing and analysis of complex video signals”, grant no. 2011/01/N/ST7/06687, National Science Centre Poland (Preludium). Project leader: Tomasz Kryjak
  • 2011-2013 – „Intelligent surveillance system for space and objects of particular importance – SIMPOZ” – grant no. 0128/R/t00/2010/12, Ministry of Science and Higher Education of the Republic of Poland. Contractors: Marek Gorgoń, Tomasz Kryjak

Projects for young scientists:

  • 2021 – „Traffic sign classification using spiking neural networks for event and classical camera data”, Project leader: Dominika Przewłocka-Rus
  • 2021 – „Hardware acceleration of classical UAV control algorithms for autonomous drone racing”, Project leader: Hubert Szolc
  • 2021 – „Deep neural network acceleration for car detection in LiDAR point cloud on a heterogeneous platform”, Project leader: Joanna Stanisz
  • 2021 – „Detection of vehicles and their relative positions from the perspective of an unmanned aerial vehicle for the evaluation of autonomous vehicle perception systems”, Project leader: Krzysztof Błachut
  • 2021 – „Implementation of spiking neural networks for environment perception in LiDAR point clouds”, Project leader: Konrad Lis
  • 2021 – „Hardware acceleration of video object tracking algorithms based on correlation filters”, Project leader: Michał Daniłowicz
  • 2021 – „Tracking fast moving objects with event and classical camera – a comparison”, Project leader: Marcin Kowalczyk
  • 2021 – „Application of deep neural networks for the determination of position and orientation of an unmanned aerial vehicle in space – a comparison with classical methods”, Project leader: Mateusz Wąsala
  • 2020 – „Object tracking using algorithms based on the correlation filter”, Project leader: Marcin Kowalczyk
  • 2020 –  „Object tracking using Siamese neural networks”, Project leader: Dominika Przewłocka-Rus
  • 2020 –  „Object tracking by detection using deep convolutional neural networks”, Project leader: Tomasz Kryjak
  • 2019 – „Development of software and hardware architecture for the task of traffic sign detection and recognition using deep convolutional networks”, Project leader: Dominika Przewłocka
  • 2019 – „Analysis and hardware-software implementation of obstacle detection algorithms for an autonomous vehicle”, Project leader: Marcin Kowalczyk
  • 2019 – „Development of hardware and software architecture for the task of traffic lights detection and recognition for autonomous vehicles and driver assistance systems”, Project leader: Tomasz Kryjak
  • 2018 – „Hardware implementation of algorithms for detection and classification of objects based on the analysis of data from the LIDAR sensor” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.712. Project leader: Tomasz Kryjak
  • 2017 – „Hardware implementation of algorithms for detection and re-identification of persons as well as detection of abandoned luggage in an advanced, automatic video monitoring system” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.623. Project leader: Tomasz Kryjak
  • 2016 – „Hardware implementation of selected objects segmentation algorithms in reconfigurable FPGAs, heterogeneous Zynq SoC and programmable GPGPUs” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.879. Project leader: Tomasz Kryjak
  • 2015 – „The use of heterogeneous computing platforms in object tracking task for video processing systems” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.476. Project leader: Tomasz Kryjak
  • 2014 – „The use of heterogeneous computing platforms in object classification task for video processing systems” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant, 2014. Project number:  15.11.120.406. Project leader: Tomasz Kryjak
  • 2013 – „Heterogeneous computing systems evaluation in object detection and recognition” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.330. Project leader: Tomasz Kryjak
  • 2012 – „The use of 3D information and thermal imaging in advanced video surveillance systems” – Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering Dean grant. Project number: 15.11.120.231. Project leader: Tomasz Kryjak
COOPERATION

2019.03.31 – 2019.10.31 – Project: Analysis of the possibilities of using SLAM technology based on visual information for positioning of an autonomous vehicle. Company ABB Ltd, Warszawa/Kraków, Poland. Project leader: Tomasz Kryjak, Contractors: Marcin Kowalczyk, Krzysztof Błachut, Hubert Szolc, Mateusz Wąsala

2018.11.15 – 2019.04.30 – Projects: Analysis of the possibilities of automation of the process of reading cassette tests results and ELISA tests (holes plate tests). Implementation of a C++ application using the OpenCV library version 4.X that automates the process of reading the results of cassette tests (part A) and ELISA tests (plate tests) (part B). Company: ABERIT, Rzeszów, Poland. Project leader: Tomasz Kryjak. Contractor: Domnika Przewłocka

2017.09.11 – 2018.08.08 – Project: Model of the Witrak videotracker (in FPGA). Company PCO Ltd. Warszawa, Poland. Project leader: Marek Gorgoń. Contractors: Tomasz Kryjak, Marcin Kowalczyk