Robot vision system with a correlation chip for real-time tracking, optical flow and depth map generation
Robot vision system with a correlation chip for real-time tracking, optical flow and depth map generation
复制标题
带有相关芯片的机器人视觉系统，用于实时跟踪、光流和深度图生成
DOI：
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发表时间：
1992
期刊：
影响因子：
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通讯作者：
M. Inaba
中科院分区：
文献类型：
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作者：
H. Inoue;Tetsuya Tachikawa;M. Inaba
作者描述了一个高性能的机器人视觉系统，执行实时跟踪移动物体，实时光流计算，和高速深度图生成。该系统被实现为一个基于transputer的视觉系统与高速相关处理器增强。晶片机视觉板配备了三个图像帧存储器，每个图像帧存储器可以同时用于图像输入、图像处理和图像显示。因此，系统可以将其所有计算能力用于图像处理，而无需等待图像输入或显示。视觉板还配备了一个标准的图像压缩芯片，用作相关处理器。使用该芯片，一个非常快速的相关为基础的机器人视觉系统的开发。该系统也可以用作多处理器配置，以大大提高性能。<<ETX>>
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.<<ETX>>