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Conference papers
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.
https://hal-mines-albi.archives-ouvertes.fr/hal-01949808
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Submitted on : Monday, December 10, 2018 - 2:01:43 PM
Last modification on : Tuesday, October 19, 2021 - 11:18:06 PM
Contributor : Imt Mines Albi Imt Mines Albi Connect in order to contact the contributor
Submitted on : Monday, December 10, 2018 - 2:01:43 PM
Last modification on : Tuesday, October 19, 2021 - 11:18:06 PM