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This paper presents an embedded architecture to implement in real time the Inverse Perspective Mapping (IPM) algorithm. The IPM algorithm allows a robot to detect obstacles under the hypothesis that the ground is flat, and the definition of an obstacle being anything that has a height above the ground. This algorithm is based on modifying the camera's angle of view to remove the perspective effect...
The design, manufacture and deployment of embedded systems become increasingly complex and multidisciplinary process. Before the steps of manufacturing and deployment, a simulation and validation phase is necessary. Given the increasing complexity of systems such as telecommunications systems, control systems and others, a specific simulation and validation process must take place. This simulation...
The design, manufacture and deployment of embedded systems become increasingly complex and multidisciplinary process. Before the steps of manufacturing and deployment, a simulation and validation phase is necessary. Given the increasing complexity of systems, a specific simulation and validation process must take place. This simulation ideally made in a single development environment, should cover...
In this work, we present the implementation in a reconfigurable architecture of a dense stereo vision algorithm based on census transform. Analyzing census transform algorithm we found that size and access memory could be reduced, which consequently also reduced the latency time. Furthermore, architecture resources are optimized and efficient thanks to binary operations and integer arithmetic used...
This article presents a reconfigurable architecture to calculate a dense disparity map of two stereo images based on census transform. This architecture is simplified and efficient as a result of binary operations and integer arithmetic used by census transform. Our architecture was prototyped using GAUT which is a practical tool to develop high-level synthesis. We take advantage of GAUT rapid prototyping...
This paper describes an architecture dedicated to the realtime processing of census correlation in the context of the realization of passive stereovision sensors. Although DSP circuits have dramatically increased their performances in terms of frequency (about 600 MHz today), DSP cores (several Multipliers Accumulators) and pipelines (Super Harvard Architectures for example), FPGA circuits remain...
Although 3D-vision systems can be an interesting way for precise laparoscopic surgical manipulations, the few existing ones present the disadvantages of giving only qualitative rather than quantitative 3D information. In this paper, we present a first step of the stereo laparoscope which gives a real time 3D scene dimensions. It is based on algorithms coming from mobile robotics, called "passive...
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