Title :
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
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642108
