Perception Sensor for a Mobile Robot

Accurate and Real-time Image Processing on a New PC-compatible Board

“…The complexity study of the whole algorithm indicates that a set of 2 CAM LSIs is sufficient for achieving real-time performance. This is an improvement of the systems in [14] and [19], where execution time of the second order using larger amount of hardware has been proposed. In addition, the performance of these systems is highly dependent on the number of extracted features (edge points and line segments), and the systems do not consider the partial occlusion or segmentation errors.…”

“…The feature-based matching algorithms result in sparse depth information at the detected features. If full surface reconstruction is desired, the depth or other points will have to be determined by surface interpolation methods as presented in [19]. These methods use point information, and they should be modified to take advantage of the line information given by our technique.…”

Hough Transform Algorithm for Three-Dimensional Segment Extraction and its Parallel Hardware Implementation

“…This is an improvement of the systems in [7] and [30], where execution time of the second order using a larger amount of hardware has been proposed. In addition the performance of these systems is highly dependent on the number of extracted features (edge points and line segments), and the systems do not consider the partial occlusion or segmentation errors.…”