| Autor: |
Maxwell, Bruce A., Fairfield, Nathaniel, Johnson, Nikolas, Malla, Pukar, Dickson, Paul, Kim, Suor, Wojtkowski, Stephanie, Stepleton, Thomas |
| Předmět: |
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| Zdroj: |
Machine Vision & Applications; Apr2003, Vol. 14 Issue 1, p72-82, 11p |
| Abstrakt: |
Abstract. Interactive robotics demands real-time visual information about the environment. Real-time vision processing, however, places a heavy load on the robot's limited resources, which must accommodate multiple other processes running simultaneously. This paper describes a vision module capable of providing real-time information from ten or more operators while maintaining at least a 20-Hz frame rate and leaving sufficient processor time for a robot's other capabilities. The vision module uses a probabilistic scheduling algorithm to ensure both timely information flow and a fast frame capture. In addition, it tightly integrates the vision operators with control of a pan-tilt-zoom camera. The vision module makes its information available to other modules in the robot architecture through a shared memory structure. The information provided by the vision module includes the operator information along with a time stamp indicating information relevance. Because of this design, our robots are able to react in a timely manner to a wide variety of visual events. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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