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

页码：2693 / +

页数：2

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