Abstract
A perception sensor for a mobile robot based on a reconfigurable and flexible parallel architecture is developed. Low-level image processing is implemented by using reprogrammable FPGA technology, and high-level image processing is performed by a dedicated reconfigurable parallel architecture based on digital signal processor TMS320C40. Hierarchical LINDA permits user-friendly parallel programming and real-time application. To show that our perception system can adapt to any application, we undertake the parallelization of a 3D scene-reconstruction algorithm using a geometric method, to meet the application response time (10 Hz).
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