A concurrent on-board vision system for a mobile robot

Conference · Fri Jan 01 04:00:00 EST 1988

OSTI ID:5250083

Jones, J P

Robot vision algorithms have been implemented on an 8-node NCUBE-AT hypercube system onboard a mobile robot (HERMIES) developed at Oak Ridge National Laboratory. Images are digitized using a faremgrabber mounted in a VME rack. Image processing and analysis are performed on the hypercube system. The vision system is integrated with robot navigation and control software, enabling the robot to find the front of a mockup control panel, move up to the panel, and read an analog meter. Among the concurrent algorithms used for image analysis are a new component labelign algorithm and a Hough transform algorithm with load balancing. 14 refs., 3 figs., 2 tabs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5250083
• Report Number(s): CONF-880117-3; ON: DE88007475
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ALGORITHMS
BENCHMARKS
CAMERAS
COMPUTERIZED CONTROL SYSTEMS
COMPUTERS
CONTROL SYSTEMS
DATA ANALYSIS
DIGITIZERS
ELECTRONIC CIRCUITS
HYPERCUBE COMPUTERS
IMAGE PROCESSING
MATHEMATICAL LOGIC
NAVIGATION
PERFORMANCE TESTING
PROCESSING
PULSE CIRCUITS
ROBOTS
SIGNAL CONDITIONERS
TESTING
VISION