Computational architecture for image processing on a small unmanned ground vehicle

Sean Ho; Hung Nguyen

doi:10.1117/12.863554

7 September 2010 Computational architecture for image processing on a small unmanned ground vehicle

Sean Ho, Hung Nguyen

Proceedings Volume 7798, Applications of Digital Image Processing XXXIII; 77980D (2010) https://doi.org/10.1117/12.863554
Event: SPIE Optical Engineering + Applications, 2010, San Diego, California, United States

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.

Citation Download Citation

Sean Ho and Hung Nguyen "Computational architecture for image processing on a small unmanned ground vehicle", Proc. SPIE 7798, Applications of Digital Image Processing XXXIII, 77980D (7 September 2010); https://doi.org/10.1117/12.863554

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