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Proceedings Paper

The Robot's Eyes: Stereo Vision System For Automated Scene Analysis
Author(s): Donald S. Williams
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Paper Abstract

The JPL Robotics Research Program is developing techniques that might be applicable in the future to planetary missions, to the assembly of large structures in earth orbit or to free swimming underwater vehicles where there is a need for the integration of a computer vision system with mechanical effectors. In each of these applications there is a need for real-time processing and a size limit on the on-board processor. To meet these objectives a robot stereo vision system was developed which maintains the image from the solid state detector television cameras in a dynamic random access memory (RAPID). The vision hardware provides, in effect, real time random access television cameras to the computer. Combining RAPID with the scene analysis algorithms optimised for the hardware provides a ten to twenty fold increase in processing speed over imaging systems which transfer the entire digital image to the computer and use the disc memory for intermediate storage. This short report describes the impact of the vision hardware on the stereo vision system and in turn the impact on the robot system.

Paper Details

Date Published: 8 December 1977
PDF: 6 pages
Proc. SPIE 0119, Applications of Digital Image Processing, (8 December 1977); doi: 10.1117/12.955692
Show Author Affiliations
Donald S. Williams, Jet Propulsion Laboratory (United States)

Published in SPIE Proceedings Vol. 0119:
Applications of Digital Image Processing
Andrew G. Tescher, Editor(s)

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