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Publicação
Real-time vision system for mobile robotics
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Orientador(es)
Resumo(s)
This paper describes a real-time vision architecture for mobile robotics. It is integrated in the research program on mobile robotics pursued at the Autonomous Systems Lab ISEP-IPP. The implemented architecture is characterized by: low computational cost, low latency, low power, highly modularity, configurability, adaptability and scalability. A new method using run length encoding (RLE) colour transition allows real-time edge determination at low computational cost. A pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical of autonomous systems applications.
Descrição
The BoaVista project research - “A Dedicated Vision System for Autonomous Mobile Robot Navigation” was sponsored by Fundação Ciência Tecnologia (FCT) referencia POSI/ROBO/43914/2002.
Palavras-chave
Autonomous mobile robots image processing real-time system pipelined processing vision
Contexto Educativo
Citação
Silva, H. M., Almeida, J. M., Lima, L., Martins, A., Silva, E. P. & Patacho, A. (2007). Real-time vision system for mobile robotics. Robótica (67), 4-8.