Embedded vision system for mobile robot navigation

Author

Sawasaki, Naoyuki ; Nakao, Manabu ; Yamamoto, Yoshinobu ; Okabayashi, Keiju

Author_Institution

Autonomous Syst. Lab., Fujitsu lab. Ltd., Kanagawa

fYear

2006

fDate

15-19 May 2006

Firstpage

2693

Lastpage

2698

Abstract

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

Keywords

feature extraction; image matching; mobile robots; path planning; robot vision; 10 W; block matching operations; correlation-based image matching; digital signal processor; embedded vision system; feature extraction; image processing functions; mobile robot navigation; spatial filtering; stereo-vision based navigation algorithm; systolic array processor; Acceleration; Digital signal processing; Digital signal processors; Energy consumption; Hardware; Image processing; Large scale integration; Machine vision; Mobile robots; Navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642108

Filename

1642108