Embedded vision system for mobile robot navigation

被引：8
|
作者：
Sawasaki, Naoyuki [1 ]
Nakao, Manabu [1 ]
Yamamoto, Yoshinobu [1 ]
Okabayashi, Keiju [1 ]
机构：
[1] Fujitsu Labs Ltd, Autonomous Syst Lab, 10-1,Morinosato Wakamiya, Atsugi, Kanagawa 2430197, Japan
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
linage processing LSI; visual navigation; feature extraction; correlation matching;
D O I：
10.1109/ROBOT.2006.1642108
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We developed an embedded vision system that can accelerate the basic image processing functions for mobile robot navigation with compact hardware featuring low power consumption. The system is composed of a Digital Signal Processor (DSP) and a dedicated LSI for low-level image processing, specifically for spatial filtering, feature extraction, and block matching operations. The image processing LSI has a dedicated systolic array processor consisting of 64 processing elements to accelerate basic block operations for image feature calculation and correlation-based image matching. The power consumption is only 10 W, about one-seventh that of a typical Pentium 4 personal computer, but the processing speed for correlation matching is roughly three times faster than such a system With this vision system, we implemented a stereo-vision-based navigation algorithm on our mobile service robot and performed a visual navigation experiment in a building hallway.
引用
收藏
页码：2693 / +
页数：2
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