Distributed Image Processing System using the RT-Middleware Framework

Traditional robot systems are constructed from different parts (sensors, processing elements, actuators). The need for faster development, system reconfigurability and flexibility required the introduction of middleware technologies for robot systems. One of the most promising middleware technology is the RT(robot technology)-Middleware technology (and its implementation, called OpenRTM-aist), which is getting more and more popular in robot system design and construction. Probably one of the most important sensor in robot systems are vision sensors. 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. RT- Middleware provides perfect platform for component integration, but currently lacks of vision component. 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.