Title :
Real-time 3D flow generation system
Author :
Kagami, Satoshi ; Okada, Kei ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mech. Eng., Tokyo Univ., Japan
Abstract :
3D flow enables one to detect moving objects while the robot is also moving. This paper describes 3D flow generation by combining depth map generation and 2D optical flow generation. Then three key issues: (1) recursive calculation technique, (2) cache optimization, (3) MMX instruction set, make real-time depth map/2D optical flow generation possible. Further experiments and evaluation are described
Keywords :
image sequences; mobile robots; object detection; real-time systems; robot vision; 2D optical flow generation; MMX instruction set; cache optimization; depth map generation; moving object detection; real-time 3D flow generation system; recursive calculation technique; Computer vision; Hardware; Image motion analysis; Legged locomotion; Mobile robots; Object detection; Pixel; Real time systems; Robot kinematics; Robot vision systems;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-5801-5
DOI :
10.1109/MFI.1999.815996
