NDLI: Embedded and real-time architecture for bio-inspired vision-based robot navigation

Content Provider	Springer Nature Link
Author	Fiack, Laurent Cuperlier, Nicolas Miramond, Beît
Copyright Year	2014
Abstract	A recent trend in several robotics tasks is to consider vision as the primary sense to perceive the environment or to interact with humans. Therefore, vision processing becomes a central and challenging matter for the design of real-time control architectures. We follow in this paper a biological inspiration to propose a real-time and embedded control system relying on visual attention to learn specific actions in each place recognized by our robot. Faced with a performance challenge, the attentional model allows to reduce vision processing to a few regions of the visual field. However, the computational complexity of the visual chain remains an issue for a processing system embedded onto an indoor robot. That is why we propose as the first part of our system, a full-hardware architecture prototyped onto reconfigurable devices to detect salient features at the camera frequency. The second part learns continuously these features in order to implement specific robotics tasks. This neural control layer is implemented as embedded software making the robot fully autonomous from a computation point of view. The integration of such a system onto the robot enables not only to accelerate the frame rate of the visual processing, to relieve the control architecture but also to compress the data-flow at the output of the camera, thus reducing communication and energy consumption. We present in this paper the complete embedded sensorimotor architecture and the experimental setup. The presented results demonstrate its real-time behavior in vision-based navigation tasks.
Starting Page	699
Ending Page	722
Page Count	24
File Format	PDF
ISSN	18618200
Journal	Journal of Real-Time Image Processing
Volume Number	10
Issue Number	4
e-ISSN	18618219
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-01-22
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Real-time vision Feature detection FPGA Robot navigation Sensation/action Image Processing and Computer Vision Multimedia Information Systems Computer Graphics Pattern Recognition Signal, Image and Speech Processing
Content Type	Text
Resource Type	Article
Subject	Information Systems

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