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Real-time Stereovision by an Integrated Sensor

Abstract : This paper concerns the integration of a complex vision algorithm on a dedicated architecture. Perception is required on a vehicle (robot or car), especially in order to detect obstacles along a trajectory for a robot or on the road for a car. This function must satisfy very hard real-time constraints so that an avoidance strategy could be executed by the onboard system on a robot or by a driver on a car: it is required to detect obstacles at 100Hz. Several sensors have been used to acquire perceptual data from which obstacles are detected: we propose to use a stereovision sensor. This algorithm is so complex that it must be integrated on a dedicated architecture to provide a high resolution 3D reconstruction of the environment at 100Hz. At first, this paper describes a correlation-based stereovision algorithm, and a generic architecture including several FPGA-based boards, designed to execute visual functions at very high frequency. Then we propose a strategy to implement our stereovision algorithm on this computing unit, with four FPGA-based boards.
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Contributor : Imt Mines Albi Ecole Nationale Supérieure Des Mines d'Albi-Carmaux <>
Submitted on : Monday, December 10, 2018 - 2:01:43 PM
Last modification on : Wednesday, May 27, 2020 - 11:07:34 AM



Jean-Louis Boizard, Michel Devy, Philippe Fillatreau, Jean-Yves Fourniols, Pierre Lacroix, et al.. Real-time Stereovision by an Integrated Sensor. IAV 2007 - 6th IFAC Symposium on Intelligent Autonomous Vehicle, Sep 2007, Toulouse, France. p.161-167, ⟨10.3182/20070903-3-FR-2921.00030⟩. ⟨hal-01949808⟩



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