Using S40 to build mobile robot vision - Forthforth.org/svfig/kk/11-2010-Montvelishsky.pdfUsing S40...

Using S40 to build mobile robot vision

Dr. Michael Montvelishsky

1Friday, November 19, 2010

L R

D

To make machine visual depth perception, using two images captured from slightly different

viewpoints as an input.

The Goal is


Minimum disparity search, using SAD (Summ of Absolute Differences) as

similarity measure

sad k l rx y i j i k j

j y w

y w

i x w

x w

, , ,( ) = +

=

+

=

+

12

12

12

=

12

d n k sad n sad kx y x y x y, , ,: { | : ( ) ( )}

The Algorithm is


MinimumDisparitySearch

sad3 3 0, ( ) sad3 3 1, ( ) sad3 3 2, ( ) sad3 3 15, ( )


Required modules:

• Input driver

• Output driver

• Storage for 2x2 input pixel lines (FIFOs)

• 16 SAD calculators

• ARG MIN module


Application Map

! "#$#%

&#$#%

'#$#%

(#$#%

)#$#%

*#$#%

+,-./"&

0,-./"'

1,-./"(

"!23$4

""#$#%

"&#$#%

"'#$#%

"(#$#%

")#$#%

"*#$#%

"+,-./""

"05$43-

"1,-./")

&!63$4

&"7822

&&9$6:

&',-./&

&(,-./'

&),-./*

&*,-./+

&+,-./"!

&05$43;

&1%8<

'! '";8##

'&,-./!

'',-./"

'(,-./(

'),-./)

'*,-./0

'+,-./1

'05$43=

'15$43.

&(100*+1/4, <%<-2/2%-.> '!/?


SSD Map

! "#$#%

&#$#%

'#$#%

(#$#%

)#$#%

*#$#%

+#$#%

, -

"! ""./00

"&1$23

"'#$#%

"(#$#%

")#$#%

"*#$#%

"+#$#%

", "-

&! &"4456!

&&4456"

&'4456&

&(4456'

&)4456(

&*4456)

&+4456*

&,4456+

&-4456,

'! '"7$869

'&7$86:

''4456#

'(44563

')44565

'*4456;

'+44569

',4456:

'-4456-

(""(!&,'684 <%<:060%:5= '&6>


SAD vs SSD

SAD SSD


Comparison

Algorithm Platform Size FPS Power(Watt)

Efficiency(Pix/J)

SSD CSX 700 640x480 160 9 5.4 e6

SSD S40 384x288 15 0.080 20.7 e6

SAD S40 384x288 25 0.075 36.9 e6


Prototype board and Sanyo AM-5308 Amorphous Solar Cell (117mW with

Vop=1.9V and Iop=61.5mA)

!"#$%&%%!!"#$%&'()*&+(,-#

• '()*%"%+,-.%"/0%1,2'*%3"))$45%)*$%678879(/#%:"38$%;*79;%)97%$<"=>8$;%76%3"))$45%8(6$%)(=$%";%6?/@)(7/%76%)*$%0$>)*%=">%4")$A%

",.-*#/#01,23-*#%'#.,++*45#-('*#'%4#67'38#,&)#9'38#858+*2:#

;*3+<#2,3#!2,=*#>?@A16@@#3(1*-8#/9#)*3+<#B,-C*8D#B="#$%@7=>?)")(7/%4")$%C6>;D%!79$4%@7/;?=>)(7/%C='D%E"))$45%8(6$%C0"5;D%

&F%-F%G&,F%2%HI%GHJ,F%

! :*$%.$45%879%>79$4%6$")?4$;%76%)*$%0$.$87>$0%*"409"4$%="K$;%()%>7;;(38$%)7%?;$%L78"4%@$88;%";%$()*$4%)*$%="(/%74%)*$%;$@7/0"45%;7?4@$%M@*"4#(/#%)*$%3"))$45N%76%>79$4%674%)*$%;5;)$=,%:*$%L"/57%OPQF+JI%O=74>*7?;%L78"4%R$88%MHH-='%9()*%S7>TH,US%"/0%B7>T2H,F=ON%(;%@?44$/)85%?;$0%674%)*$%>4776%76%)*$%@7/@$>),%

%

E(=:#?#"<*#;*B*-%3*)#34%%'#%'#F%&F*3+#<,4)G,4*#F%23,4*)#G(+<#H,&5%#H%-,4#$*--:#10Friday, November 19, 2010

Intelligent Vehicles


Using S40 to build mobile robot vision - Forthforth.org/svfig/kk/11-2010-Montvelishsky.pdfUsing S40...

Documents

Transcript of Using S40 to build mobile robot vision - Forthforth.org/svfig/kk/11-2010-Montvelishsky.pdfUsing S40...