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Using S40 to build mobile robot vision
Dr. Michael Montvelishsky
1Friday, November 19, 2010
L R
D
To make machine visual depth perception, using two images captured from slightly different
viewpoints as an input.
The Goal is
2Friday, November 19, 2010
Minimum disparity search, using SAD (Summ of Absolute Differences) as
similarity measure
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The Algorithm is
3Friday, November 19, 2010
MinimumDisparitySearch
sad3 3 0, ( ) sad3 3 1, ( ) sad3 3 2, ( ) sad3 3 15, ( )
4Friday, November 19, 2010
Required modules:
• Input driver
• Output driver
• Storage for 2x2 input pixel lines (FIFOs)
• 16 SAD calculators
• ARG MIN module
5Friday, November 19, 2010
Application Map
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6Friday, November 19, 2010
SSD Map
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7Friday, November 19, 2010
SAD vs SSD
SAD SSD
8Friday, November 19, 2010
Comparison
Algorithm Platform Size FPS Power(Watt)
Efficiency(Pix/J)
SSD CSX 700 640x480 160 9 5.4 e6
SSD S40 384x288 15 0.080 20.7 e6
SAD S40 384x288 25 0.075 36.9 e6
9Friday, November 19, 2010
Prototype board and Sanyo AM-5308 Amorphous Solar Cell (117mW with
Vop=1.9V and Iop=61.5mA)
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Intelligent Vehicles
11Friday, November 19, 2010