Abstract
One of the main tasks of vision systems is to support autonomous vehicle navigation in unstructured environments, where unexpected objects can suddenly appear. For this, they can use various information sources (cameras, ultrasonic sensors, GPS systems, LIDAR, etc.) to model the environment in which they operate. All these data are combined to extract all the information needed to guide their movement through the environment. The complexity of this task prevents the integration of vision systems into real-time control systems (autonomous vehicles, mobile robots, etc.). This is because most of the research carried out within the computer vision field focuses on hardware development or on creating new algorithms and methods for performing the analysis and manipulation of the image data. However, system development issues are treated as secondary. Consequently, designs are very efficient but very little reusable. On the other hand, real-time systems possess features that make them particularly sensitive to whatever architectural decisions are made. The use of software frame works and components has demonstrated its effectiveness in improving software productivity and quality. This work proposes a novel approach, called ViSel-TR, for developing vision systems seeking two main objectives: (1) efficient interpretation and reasonable response time in an unstructured environment and (2) use of different development paradigms offered by software engineering that allow their integration in realtime systems. In order to achieve these objectives, ViSel-TR uses model driven software development techniques in order to separate the description of component-based real-time applications from their possible implementations for different platforms.
Highlights
The processes of requirements analysis, definition and management are essential to address the design and implementation of any application
To achieve the second objective, we propose the use of the Model Driven Software Development (MDSD) paradigm for separating the description of componentbased applications from their possible implementations for different platforms
A novel approach for developing vision systems has been presented and the main objectives have been achieved thanks to the design of a general architecture for use of different development paradigms offered by software engineering
Summary
In order to maintain a generic software approach, the solution adopted to transform component models into executable code should be validated for a set of computer vision applications that share certain minimum features. To show the novel approach and validate it, this article shows the development of a selective vision for cataloguing road signals in order to facilitate the performing of maintenance operations This application has been developed incrementally un four scenaries, with the help of C-Forge [12], which is an Eclipse-based Model-Driven tool-chain for supporting a component-based development process that relies on: (1) a component model (WCOMM) for modeling applications by means of components, ports and connections among them and, (2) a component framework (FRACC) that provides the runtime support for executing the component-based application modeled with WCOMM.
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