A robot vision VLSI processor for the rectangular solid representation of three-dimensional objects

Masanori Hariyama, Yuichi Araumi, Michitaka Kameyama

Research output: Contribution to journalArticlepeer-review

Abstract

A compact rectangular solid representation of three-dimensional (3-D) objects is proposed for motion planning of intelligent robots. A VLSI-oriented algorithm that transforms the discrete point representation of a 3-D object to a rectangular solid representation is considered. A new architecture is proposed to perform matching operations between a rectangular solid and discrete points in parallel. Performance evaluation shows that the VLSI processor that implements the algorithm is 25,000 times faster than a RAM-based architecture.

Original languageEnglish
Pages (from-to)54-61
Number of pages8
JournalSystems and Computers in Japan
Volume28
Issue number2
DOIs
Publication statusPublished - 1997 Jan 1

Keywords

  • Content-addressable memory
  • Minimization of multiple-valued logic functions
  • Rectangular solid representation
  • Special-purpose VLSI processor for robotics

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Information Systems
  • Hardware and Architecture
  • Computational Theory and Mathematics

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