VLSI-oriented model-based robot vision processor for 3-D instrumentation and object recognition

Yoshifumi Sasaki, Michitaka Kameyama

Research output: Contribution to journalArticlepeer-review

Abstract

In robot vision system, enormously large computation power is required to perform three-dimensional (3-D) instrumentation and object recognition. However, many kinds of complex and irregular operations are required to make accurate 3-D instrumentation and object recognition in the conventional method for software implementation. In this paper, a VLSI-oriented Model-Based Robot Vision (MBRV) processor is proposed for high-speed and accurate 3-D instrumentation and object recognition. An input image is compared with two-dimensional (2-D) silhouette images which are generated from the 3-D object models by means of perspective projection. Because the MBRV algorithm always gives the candidates for the accurate 3-D instrumentation and object recognition result with simple and regular procedures, it is suitable for the implementation of the VLSI processor. Highly parallel architecture is employed in the VLSI processor to reduce the latency between the image acquisition and the output generation of the 3-D instrumentation and object recognition results. As a result, 3-D instrumentation and object recognition can be performed 10000 times faster than a 28.5 MIPS workstation.

Original languageEnglish
Pages (from-to)1116-1122
Number of pages7
JournalIEICE Transactions on Electronics
VolumeE77-C
Issue number7
Publication statusPublished - 1994 Jul 1

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Electrical and Electronic Engineering

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