• KSII Transactions on Internet and Information Systems
    Monthly Online Journal (eISSN: 1976-7277)

A Parallel Implementation of Multiple Non-overlapping Cameras for Robot Pose Estimation

Vol. 8, No.11, November 30, 2014
10.3837/tiis.2014.11.025, Download Paper (Free):

Abstract

Image processing and computer vision algorithms are gaining larger concern in a variety of application areas such as robotics and man-machine interaction. Vision allows the development of flexible, intelligent, and less intrusive approaches than most of the other sensor systems. In this work, we determine the location and orientation of a mobile robot which is crucial for performing its tasks. In order to be able to operate in real time there is a need to speed up different vision routines. Therefore, we present and evaluate a method for introducing parallelism into the multiple non-overlapping camera pose estimation algorithm proposed in [1]. In this algorithm the problem has been solved in real time using multiple non-overlapping cameras and the Extended Kalman Filter (EKF). Four cameras arranged in two back-to-back pairs are put on the platform of a moving robot. An important benefit of using multiple cameras for robot pose estimation is the capability of resolving vision uncertainties such as the bas-relief ambiguity. The proposed method is based on algorithmic skeletons for low, medium and high levels of parallelization. The analysis shows that the use of a multiprocessor system enhances the system performance by about 87%. In addition, the proposed design is scalable, which is necaccery in this application where the number of features changes repeatedly.


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Cite this article

[IEEE Style]
Mohammad E. Ragab and Ghada F. Elkabbany, "A Parallel Implementation of Multiple Non-overlapping Cameras for Robot Pose Estimation," KSII Transactions on Internet and Information Systems, vol. 8, no. 11, pp. 4103-4117, 2014. DOI: 10.3837/tiis.2014.11.025

[ACM Style]
Ragab, M. E. and Elkabbany, G. F. 2014. A Parallel Implementation of Multiple Non-overlapping Cameras for Robot Pose Estimation. KSII Transactions on Internet and Information Systems, 8, 11, (2014), 4103-4117. DOI: 10.3837/tiis.2014.11.025