Date of Graduation


Document Type


Degree Name

Master of Science in Computer Engineering (MSCmpE)

Degree Level



Computer Science & Computer Engineering


Christophe Bobda

Committee Member

James Parkerson

Second Committee Member

David Andrews


3D Reconstruction, Image Processing


A method is presented to calculate depth information for a UAV navigation system from Keypoints in two consecutive image frames using a monocular camera sensor as input and the OpenCV library. This method was first implemented in software and run on a general-purpose Intel CPU, then ported to the RazorCam Embedded Smart-Camera System and run on an ARM CPU onboard the Xilinx Zynq-7000. The results of performance and accuracy testing of the software implementation are then shown and analyzed, demonstrating a successful port of the software to the RazorCam embedded system on chip that could potentially be used onboard a UAV with tight constraints of size, weight, and power. The potential impacts will be seen through the continuation of this research in the Smart ES lab at University of Arkansas.