Perception sensor for a mobile robot

K. M. Hou, A. Belloum, E. Yao, M. Méribout, A. Trihandoyo, K. Li, Y. H. Park, J. L. Mayorquim

Research output: Contribution to journalArticlepeer-review

7 Scopus citations


A perception sensor for a mobile robot based on a reconfigurable and flexible parallel architecture is developed. Low-level image processing is implemented by using reprogrammable FPGA technology, and high-level image processing is performed by a dedicated reconfigurable parallel architecture based on digital signal processor TMS320C40. Hierarchical LINDA permits user-friendly parallel programming and real-time application. To show that our perception system can adapt to any application, we undertake the parallelization of a 3D scene-reconstruction algorithm using a geometric method, to meet the application response time (10 Hz).

Original languageBritish English
Pages (from-to)379-390
Number of pages12
JournalReal-Time Imaging
Issue number5
StatePublished - 1997


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