Abstract
This paper presents an embedded multi-camera system for Simultaneous Localization and Mapping (SLAM) for mobile robots. The multi-camera system has been designed and implemented as a SoC (System-on-a-Chip), using reconfigurable computing technology. In this system the images are captured in real-time by means of four CMOS digital cameras. After some pre-processing steps, those images are sent to an embedded softcore processor by a direct memory access (DMA) channel. In this system, images are captured, pre-processed and sent to the embedded processor at 30 frames per second in color mode and 60 frames per second in gray-scale mode. This paper also shows the main advantages of using multi-cameras to implement SLAM based on the Extended Kalman Filter.
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© 2006 Springer-Verlag Berlin Heidelberg
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Bonato, V., de Holanda, J.A., Marques, E. (2006). An Embedded Multi-camera System for Simultaneous Localization and Mapping. In: Bertels, K., Cardoso, J.M.P., Vassiliadis, S. (eds) Reconfigurable Computing: Architectures and Applications. ARC 2006. Lecture Notes in Computer Science, vol 3985. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11802839_15
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DOI: https://doi.org/10.1007/11802839_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36708-6
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