Abstract
Sensor systems for robotics and autonomous systems usually require small-sized and power-aware dedicated solutions for their realization. Therefore, an embedded system is the first choice - but the drawback is weaker computing power compared to state-of-the-art PC-based systems. This paper describes our approach on "boosting" the computing power of embedded vision systems. Our system consists of a platform based on a Digital Signal Processor (DSP) enhanced by an additional Field Programmable Gate Array (FPGA) used as a co-processor. In our novel approach called Resource Optimized Co-processing, both the DSP and the FPGA are driven in parallel for the execution of crucial parts of the vision algorithms. Thereby, through efficient usage of system resources a significant Increase of the system performance is possible. The approach and the achievable profit in computing power is outlined in the paper. Based on an example case - the realization of a robot soccer embedded vision sensor - the usefulness and the powerfulness of our approach is demonstrated. In this demo case, by applying Resource Optimized Co-processing, the most crucial and computing-intensive function was executed twice as fast as before. Thus, we were able to fulfill the stringent real-time requirements of the vision system.
Original language | English |
---|---|
Title of host publication | 2007 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2007 |
Pages | 1141-1146 |
Number of pages | 6 |
DOIs | |
Publication status | Published - 2007 |
Event | Intl. Conference on Systems, Man and Cybernetics, SMC2007 - Montreal, Canada Duration: 7 Oct 2007 → 10 Oct 2007 http://www.smc2007.org/ |
Publication series
Name | Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics |
---|---|
ISSN (Print) | 1062-922X |
Conference
Conference | Intl. Conference on Systems, Man and Cybernetics, SMC2007 |
---|---|
Country/Territory | Canada |
City | Montreal |
Period | 07.10.2007 → 10.10.2007 |
Internet address |