Περίληψη:
A hardware-friendly procedure is presented for the
extraction of point-features from stereo image pairs for the
purpose of real-time robot motion estimation and 3-D
environmental mapping. The procedure is implemented in
reconfigurable hardware and is developed as a set of custom
HDL library components ready for integration in a system-ona-
programmable-chip. The main hardware stages are a stereo
accelerator, a left and right image corner detector and a stage
performing left-right consistency check. For the stereoprocessor
stage we have implemented and tested a SAD-based
component for local area-matching and a global-matching
component based on a Maximum-Likelihood dynamic
programming technique. The system includes a Nios II
processor for data control and a USB 2.0 interface for host
communication. Resource usage and 3D-mapping results are
reported for different versions of the reconfigurable system.