Low-Latency Image Processing for Vision-Based Navigation Systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00306999" target="_blank" >RIV/68407700:21230/16:00306999 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7487207/" target="_blank" >http://ieeexplore.ieee.org/document/7487207/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2016.7487207" target="_blank" >10.1109/ICRA.2016.7487207</a>
Alternative languages
Result language
angličtina
Original language name
Low-Latency Image Processing for Vision-Based Navigation Systems
Original language description
This paper concerns a problem of the latency reduction in the vision-based mobile robot navigation, which is considered as the crucial system property to determine a control command based on visual data in practical deployments of mobile robots. The problem is addressed by a processor centric FPGA-based System-on-Chip design allowing power and computationally efficient on-line image processing. The proposed architecture is considered in an autonomous vision-based navigation with a teach-and-repeat algorithm based on detection and tracking of image salient points. The architecture has been evaluated and compared with a CPU-based solution on different platforms and the results indicate that the proposed FPGA-based implementation outperforms pure CPU solutions in the overall latency, speed, and power consumption.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-8026-3
ISSN
1050-4729
e-ISSN
—
Number of pages
6
Pages from-to
781-786
Publisher name
Institute of Electrical and Electronics Engineers Inc.
Place of publication
Budapešť
Event location
Stockholm
Event date
May 16, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000389516200098