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-Chlp), 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. © Springer-Verlag Berlin Heidelberg 2006.
Cite
CITATION STYLE
Bonato, V., De Holanda, J. A., & Marques, E. (2006). An embedded multi-camera system for simultaneous localization and mapping. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3985 LNCS, pp. 109–114). Springer Verlag. https://doi.org/10.1007/11802839_15
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