• 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 29, 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.


Statistics

Show / Hide Statistics

Statistics (Cumulative Counts from December 1st, 2015)
Multiple requests among the same browser session are counted as one view.
If you mouse over a chart, the values of data points will be shown.


Cite this article

[IEEE Style]
M. E. Ragab and G. 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]
Mohammad E. Ragab and Ghada F. Elkabbany. 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.

[BibTeX Style]
@article{tiis:20660, title="A Parallel Implementation of Multiple Non-overlapping Cameras for Robot Pose Estimation", author="Mohammad E. Ragab and Ghada F. Elkabbany and ", journal="KSII Transactions on Internet and Information Systems", DOI={10.3837/tiis.2014.11.025}, volume={8}, number={11}, year="2014", month={November}, pages={4103-4117}}