An Autonomous Smart Vision System for Fire Wire Cameras

摘要

Vision-based sensors are a key component in service robotics, where many tasks depend on image data. Controlling a robotic system implies realtime constraints also on image processing which cannot be fulfilled by the limited capabilities of a mobile system. This paper presents an autonomous subsystem for FireWire cameras consisting of an embedded processor combined with dedicated hardware for signal preprocessing. Due to its implementation as a FPGA, the system can be adapted to various processing tasks. First results have proven the concept, significantly decreasing the processor load of the robot.