Title :
Stereo Vision System on Programmable Chip (SVSoC) for Small Robot Navigation
Author :
Mingxiang, Li ; Yunde, Jia
Author_Institution :
Sch. of Comput. Sci. & Technol., Beijing Inst. of Technol.
Abstract :
In this paper, we present a stereo vision system on programmable chip (SVSoC) for dense depth mapping and obstacle detection at video rate. The system is composed of three miniature CMOS cameras with triangular configuration and one FPGA chip for parallel computing. The system algorithm contains nonlinear iteration based cooperative algorithm for high quality dense depth mapping, ground extraction and obstacle location from dense depth maps. With the connection of DSP for moving control, the system is mounted on small hexapod robot for obstacle avoidance and navigation
Keywords :
collision avoidance; control engineering computing; field programmable gate arrays; mobile robots; stereo image processing; system-on-chip; FPGA chip; dense depth mapping; ground extraction; hexapod robot; obstacle avoidance; obstacle detection; parallel computing; small robot navigation; stereo vision; system on programmable chip; Cameras; Computer vision; Field programmable gate arrays; Hardware; High performance computing; Intelligent robots; Mobile robots; Navigation; Robot vision systems; Stereo vision; Cooperative Matching; FPGA; Obstacle location; System on Chip; Trinocular Stereo Vision;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281923
