Title :
Robot vision system with a correlation chip for real-time tracking, optical flow and depth map generation
Author :
Inoue, Hirochika ; Tachikawa, Tetsuya ; Inaba, Masayuki
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
The authors describe a high-performance robot vision system that performs real-time tracking of moving objects, real-time optical flow computation, and high-speed depth map generation. The system was implemented as a transputer-based vision system augmented with a high-speed correlation processor. The transputer vision board was equipped with three image frame memories, each of which could be used simultaneously for image input, image processing, and image display. Thus, the system could devote all its computation power to image processing without waiting for image input or display. The vision board was also equipped with a standard image compression chip, used as a correlation processor. Using the chip, a very fast correlation-based robot vision system was developed. This system can also be used as a multiprocessor configuration to greatly improve performance
Keywords :
computer vision; correlators; digital signal processing chips; image sequences; motion estimation; robots; transputer systems; DSP chips; correlation chip; depth map generation; digital signal processing chips; high-performance robot vision system; high-speed correlation processor; image processing; motion estimation; multiprocessor configuration; optical flow; real-time tracking; transputer vision board; transputer-based vision system; Computer vision; Displays; High performance computing; High speed optical techniques; Image motion analysis; Image processing; Machine vision; Optical computing; Real time systems; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220020