Abstract
The Image Understanding Architecture (IUA) is a tightly coupled heterogeneous parallel processor that has been specifically designed for real-time knowledge-based machine vision applications. In particular, the second generation of the IUA is designed to address the demands of the ARPA Unmanned Ground Vehicle (UGV) program in which a small military truck is being developed to carry out scouting missions with minimal human intervention. The UGV carries a large suite of sensors for both navigation and surveillance and the IUA is designed to process the data from these sensors and provide guidance to the actuator control systems of the vehicle. As such it represents one of the first parallel processors to be designed from the ground up for real-time interpretation of complex natural scenes. The purpose of this paper is to summarize the architectural features of the IUA that resulted from the specific real-time requirements imposed by the UGV.
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