Share Email Print

Proceedings Paper

Fusion of registered 2D intensity and 3D range data on an SIMD machine
Author(s): Jean-Francois Methot; Denis Poussart; Robert Bergevin
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

The present work outlines a design strategy whereby 2D intensity and 3D range data are fused in order to yield higher accuracy range sensing. The proposed method can be applied to a wide variety of range finder systems with minor or no changes in the procedure used for raw data acquisition. The approach exploits a modified shape-from-shading algorithm which allows the inclusion of range data. The algorithm has been mapped on an SIMD parallel computer with 2048 processors. Since this is a data parallel problem needing only local communications, the efficiency of the execution is quite high and we have observed speed gains of sixty compared to a SunSPARC. The precision improvement obtained for the range image has been evaluated for a variety of 3D scenes, and is typically better than 2 bits.

Paper Details

Date Published: 3 September 1993
PDF: 12 pages
Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); doi: 10.1117/12.155089
Show Author Affiliations
Jean-Francois Methot, Univ. Laval (Canada)
Denis Poussart, Univ. Laval (Canada)
Robert Bergevin, Univ. Laval (Canada)

Published in SPIE Proceedings Vol. 1956:
Sensor Fusion and Aerospace Applications
Jake K. Aggarwal; Nagaraj Nandhakumar, Editor(s)

© SPIE. Terms of Use
Back to Top