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Perception Sensor for a Mobile Robot

✍ Scribed by K.M. Hou; A. Belloum; E. Yao; M. Méribout; A. Trihandoyo; K. Li; Y.H. Park; J.L. Mayorquim

Publisher
Elsevier Science
Year
1997
Tongue
English
Weight
179 KB
Volume
3
Category
Article
ISSN
1077-2014

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✦ Synopsis

Perception Sensor for a Mobile Robot

perception sensor for a mobile robot based on a reconfigurable and flexible parallel architecture is developed. Low-level image processing is implemented by using A reprogrammable FPGA technology, and high-level image processing is performed by a dedicated reconfigurable parallel architecture based on digital signal processor TMS320C40. Hierarchical LINDA permits user-friendly parallel programming and real-time application. To show that our perception system can adapt to any application, we undertake the parallelization of a 3D scene-reconstruction algorithm using a geometric method, to meet the application response time (10 Hz).

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