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1 November 1991 Optical correlator techniques applied to robotic vision
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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.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Butler P. Hine III, Max B. Reid, and John D. Downie "Optical correlator techniques applied to robotic vision", Proc. SPIE 1564, Optical Information Processing Systems and Architectures III, (1 November 1991);

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