dc.contributor.author |
Kalomiros, John |
|
dc.contributor.author |
Καλόμοιρος, Ιωάννης |
|
dc.contributor.author |
Lygouras, John |
|
dc.date.accessioned |
2015-01-31T20:15:41Z |
|
dc.date.available |
2015-01-31T20:15:41Z |
|
dc.date.issued |
2009 |
|
dc.identifier.other |
http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5382102&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5382102 |
el |
dc.identifier.uri |
http://apothesis.teicm.gr/xmlui/handle/123456789/75 |
|
dc.description.abstract |
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. |
en |
dc.format.extent |
6 |
el |
dc.language.iso |
en |
el |
dc.title |
A reconfigurable architecture for stereo-assisted detection of point-features for robot mapping |
en |
dc.type |
Άρθρο σε επιστημονικό συνέδριο |
el |
dc.conference.information |
Cancun, Mexico, December 2009 |
el |
dc.conference.name |
2009 International Conference on Reconfigurable Computing and FPGAs (ReConFig2009) |
el |
dc.publication.category |
Απαγόρευση δημοσίευσης - Βιβλιογραφική αναφορά |
el |
dc.subject.keyword |
Reconfigurable hardware |
el |
dc.subject.keyword |
Robot mapping |
el |
dc.subject.keyword |
Machine vision |
el |
dc.subject.keyword |
Real-time systems |
el |