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Proceedings Paper

Computational architecture for image processing on a small unmanned ground vehicle
Author(s): Sean Ho; Hung Nguyen
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Paper Abstract

Man-portable Unmanned Ground Vehicles (UGVs) have been fielded on the battlefield with limited computing power. This limitation constrains their use primarily to teleoperation control mode for clearing areas and bomb defusing. In order to extend their capability to include the reconnaissance and surveillance missions of dismounted soldiers, a separate processing payload is desired. This paper presents a processing architecture and the design details on the payload module that enables the PackBot to perform sophisticated, real-time image processing algorithms using data collected from its onboard imaging sensors including LADAR, IMU, visible, IR, stereo, and the Ladybug spherical cameras. The entire payload is constructed from currently available Commercial off-the-shelf (COTS) components including an Intel multi-core CPU and a Nvidia GPU. The result of this work enables a small UGV to perform computationally expensive image processing tasks that once were only feasible on a large workstation.

Paper Details

Date Published: 7 September 2010
PDF: 10 pages
Proc. SPIE 7798, Applications of Digital Image Processing XXXIII, 77980D (7 September 2010);
Show Author Affiliations
Sean Ho, U.S. Army Research Lab. (United States)
Hung Nguyen, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 7798:
Applications of Digital Image Processing XXXIII
Andrew G. Tescher, Editor(s)

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