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Proceedings Paper

Optical correlator techniques applied to robotic vision
Author(s): Butler P. Hine III; Max B. Reid; John D. Downie
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Paper Abstract

Vision processing is one of the most computationally intensive tasks required of an autonomous robot. The data flow from a single typical imaging sensor is roughly 60 Mbits/sec, which can easily overload current on-board processors. Optical correlator-based processing can be used to perform many of the functions required of a general robotic vision system, such as object recognition, tracking, and orientation determination, and can perform these functions fast enough to keep pace with the incoming sensor data. We describe a hybrid digital electronic/analog optical robotic vision processing system developed at Ames Research Center to test concepts and algorithms for autonomous construction, inspection, and maintenance of space-based habitats. We discuss the system architecture design and implementation, its performance characteristics, and our future plans. In particular, we compare the performance of the system to a more conventional all digital electronic system developed concurrently. The hybrid system consistently outperforms the digital electronic one in both speed and robustness.

Paper Details

Date Published: 1 November 1991
PDF: 11 pages
Proc. SPIE 1564, Optical Information Processing Systems and Architectures III, (1 November 1991);
Show Author Affiliations
Butler P. Hine III, NASA/Ames Research Ctr. (United States)
Max B. Reid, NASA/Ames Research Ctr. (United States)
John D. Downie, NASA/Ames Research Ctr. (United States)

Published in SPIE Proceedings Vol. 1564:
Optical Information Processing Systems and Architectures III
Bahram Javidi, Editor(s)

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