Title :
Cellular sensor-processor array based visual collision warning sensor
Author :
Zarandy, Akos ; Nemeth, Mate ; Pencz, Borbala ; Nagy, Zoltan ; Zsedrovits, Tamas
Author_Institution :
Inst. for Comput. Sci. & Control, Budapest, Hungary
Abstract :
Autonomous UAVs need on-board vision system to be able to navigate, avoid collisions, and execute missions. Small UAVs can carry small form factor vision system with low power consumption due to natural payload limitations. Therefore it is a natural idea to use cellular sensor-processor arrays to implement the necessary vision functions. In this paper, we present a UAV collision warning algorithm and its implementation on a 176×144 sized mixed-signal sensor-processor array. Besides the technical details of the implementation, the paper includes comparison with FPGA implementation of the same algorithm.
Keywords :
autonomous aerial vehicles; cellular arrays; collision avoidance; image sensors; mixed analogue-digital integrated circuits; navigation; robot vision; sensor arrays; FPGA; UAV collision warning algorithm; cellular sensor-processor array based visual collision warning sensor; collision avoidance; low power consumption; mixed-signal sensor-processor array; natural payload limitations; on-board vision system; small form factor vision system; Aircraft; Arrays; Collision avoidance; Field programmable gate arrays; Kernel; Machine vision; Noise; UAV; fine-grain cellular processor array; focal-plane sensor-processor; remote aircraft detection;
Conference_Titel :
Circuits and Systems (ISCAS), 2015 IEEE International Symposium on
Conference_Location :
Lisbon
DOI :
10.1109/ISCAS.2015.7169061
