Examples of design and achievement of vision systems for mobile robotics applications

Patrick J. Bonnin; Laurent Cabaret; Ludovic Raulet; Vincent Hugel; Pierre Blazevic; Nacer K. M'Sirdi; Philippe Coiffet

doi:10.1117/12.403769

11 October 2000 Examples of design and achievement of vision systems for mobile robotics applications

Patrick J. Bonnin, Laurent Cabaret, Ludovic Raulet, Vincent Hugel, Pierre Blazevic, Nacer K. M'Sirdi, Philippe Coiffet

Proceedings Volume 4197, Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision; (2000) https://doi.org/10.1117/12.403769
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Our goal is to design and to achieve a multiple purpose vision system for various robotics applications : wheeled robots (like cars for autonomous driving), legged robots (six, four (SONY's AIBO) legged robots, and humanoid), flying robots (to inspect bridges for example) in various conditions : indoor or outdoor. Considering that the constraints depend on the application, we propose an edge segmentation implemented either in software, or in hardware using CPLDs (ASICs or FPGAs could be used too). After discussing the criteria of our choice, we propose a chain of image processing operators constituting an edge segmentation. Although this chain is quite simple and very fast to perform, results appear satisfactory. We proposed a software implementation of it. Its temporal optimization is based on : its implementation under the pixel data flow programming model, the gathering of local processing when it is possible, the simplification of computations, and the use of fast access data structures. Then, we describe a first dedicated hardware implementation of the first part, which requires 9CPLS in this low cost version. It is technically possible, but more expensive, to implement these algorithms using only a signle FPGA.

Citation Download Citation

Patrick J. Bonnin, Laurent Cabaret, Ludovic Raulet, Vincent Hugel, Pierre Blazevic, Nacer K. M'Sirdi, and Philippe Coiffet "Examples of design and achievement of vision systems for mobile robotics applications", Proc. SPIE 4197, Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision, (11 October 2000); https://doi.org/10.1117/12.403769

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
12 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Robots

Image segmentation

Data modeling

Light sources and illumination

RGB color model

Image fusion

Video

Show All Keywords

Keywords/Phrases

Search In:

Publication Years