Title :
Distributed image processing system using the RT-Middleware framework
Author :
Reskó, Barna ; Seebauer, Márta ; Sziebig, Gábor
Author_Institution :
Dept. Autom. & Appl. Inf., Budapest
Abstract :
In conventional robot system development the different robot parts (sensors, processing elements, actuators) are combined together in a compact, self contained system. The need for faster development, system reconfigurability and flexibility required the introduction of middleware frameworks for robot systems. One promising middleware framework is the RT-middleware technology (and its implementation named OpenRTM-aist), which is getting more and more popular in robot system design. Vision sensors are one of the most important sensors in robot systems. When constructing a new robot system, it is desirable that vision and image processing components are just as easily integrated as any other robot components. Unfortunately, RT- Middleware is not yet equipped with such RT-Components. This need can be satisfied by introducing a new image processing toolbox, directly obtained from DIMAN, a existing software previously developed by the authors. DIMAN is a distributed framework for image processing, with a modular architecture very similar to RT-middleware. The modules of DIMAN satisfy the needs of robot systems with respect to vision related tasks. This paper will show how the modules of DIMAN can be deployed in RT-Components, and as such, directly integrated into RT-Middleware based robot systems.
Keywords :
image sensors; middleware; robot vision; DIMAN; OpenRTM-aist; RT middleware; distributed image processing; robot system; system reconfigurability; vision sensors; Actuators; Computer architecture; Image processing; Image sensors; Intelligent sensors; Middleware; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems;
Conference_Titel :
Human System Interactions, 2008 Conference on
Conference_Location :
Krakow
Print_ISBN :
978-1-4244-1542-7
Electronic_ISBN :
978-1-4244-1543-4
DOI :
10.1109/HSI.2008.4581451