Title :
Mapping an obstacles detection, stereo vision-based, software application on a multi-processor system-on-chip
Author :
Greiner, Alain ; Petrot, Frederic ; Carrier, Mathieu ; Benabdenbi, Mounir ; Chotin-Avot, Roselyne ; Labayrade, Raphael
Author_Institution :
UPMC, Paris
Abstract :
In this paper, we present the implementation of a multi-threaded software application for pre-crash obstacle detection, using stereo vision, and the "V-disparity" algorithm, that requires intensive computation. This application runs on a generic, low cost, massively parallel, multi-processor system-on-chip (MP-SoC). This hardware architecture is suitable for automotive area with respect to performance, cost, and flexibility constraints. This hardware/software embedded application is able to process 40 stereoscopic pairs per second with 256 lines of 512 pixels images and a disparity range of 256. Our architecture is made of 8 clusters, 30 general-purpose 32-bit processors and 750 Kbytes embedded memory
Keywords :
automotive electronics; collision avoidance; multi-threading; multiprocessing systems; object detection; parallel processing; stereo image processing; system-on-chip; 750 kByte; V-disparity algorithm; cluster processor; embedded memory; general-purpose 32-bit processor; hardware/software embedded application; multiprocessor system-on-chip; multithreaded software application; precrash obstacle detection; stereo vision; Application software; Automotive engineering; Computer architecture; Computer vision; Costs; Embedded software; Hardware; Software algorithms; Stereo vision; System-on-a-chip;
Conference_Titel :
Intelligent Vehicles Symposium, 2006 IEEE
Conference_Location :
Tokyo
Print_ISBN :
4-901122-86-X
DOI :
10.1109/IVS.2006.1689656
