Design and implementation of on-body real-time depth map generation system

Author

Kagami, Satoshi ; Okada, Kei ; Inaba, Masayuki ; Inoue, Hirochika

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

1441

Abstract

This paper describes the design and implementation of real-time depth map generation system with four key issues: 1) recursive (normalized) correlation technique; 2) cache optimization; 3) online consistency checking method; and 4) applying the MMX/SSE^R multimedia instructions set. The system is implemented on a standard PC/AT hardware with simple image capture board. Implementation details and system evaluations are also denoted. Furthermore, experiments with robots in real world are shown

Keywords

correlation methods; mobile robots; optimisation; path planning; real-time systems; robot vision; stereo image processing; 3D robot vision; MMX/SSE instructions set; cache optimization; consistency checking method; depth map generation; image capture board; mobile robots; motion planning; multimedia; real-time systems; recursive correlation; Cloning; Design optimization; Equations; Hardware; Humanoid robots; Mobile robots; Optimization methods; Real time systems; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844800

Filename

844800