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Proceedings Paper

OPART: an intelligent sensor dedicated to ground robotics
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Paper Abstract

We present an intelligent sensor, consisting in 2 CCDs with different field of view sharing the same optical motion, which can be controlled independently or not in their horizontal, vertical and rotational axis, and are connected in a closed loop to image processing resources. The goal of such a sensor is to be a testbed of image processing algorithms in real conditions. It illustrates the active perception paradigm and is used for autonomous navigation and target detection/tracking missions. Such a sensor has to meet many requirements : it is designed to be easily mounted on a standard tracked or wheeled military vehicle evolving in offroad conditions. Due to the rather wide range of missions UGVs may be involved in and to the computing cost of image processing, its computing resources have to be reprogrammable, of great power (real-time constraints), modular at the software level as well as at the hardware level and able to communicate with other systems. First, the paper details the mechanical, electronical and software design of the whole sensor. Then, we explain its functioning, the constraints due to its parallel processing architecture, the image processing algorithms that have been implemented for it and their current uses and performances. Finally, we describe experiments conducted on tracked and wheeled vehicles and conclude on the future development and use of this sensor for unmanned ground vehicles.

Paper Details

Date Published: 20 September 2001
PDF: 8 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439996
Show Author Affiliations
Andre Dalgalarrondo, Ctr. Technique d'Arcueil (France)
Dominique Luzeaux, Ctr. Technique d'Arcueil (France)
Patrik W. Hoffmann, Ctr. Technique d'Arcueil (France)

Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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