A computer vision system for a hypercube concurrent ensemble

Abstract

A system of image processing and analysis utilities for a general-purpose hypercube topology concurrent multiprocessor system is described. The purpose of the system is to provide an efficient development and run-time environment for theoretical and experimental inquiry into computational vision for mobile and manipulative robots. An additional objective is to provide an environment with rich support for the development of concurrent computer vision algorithms. A number of principles for programming concurrent systems are embodied in the implementation of this system. In particular, all significant computation is performed by the hypercube proper, reserving the host processor exclusively for input/output functions. One consequence of this principle is that applications are developed by viewing the concurrent multiprocessor as a single computer with a special internal structure, rather than as a number of independent machines. Applications derive from a single source, rather than many, reducing development time without sacrificing run-time efficiency. This document serves as an introduction to the image processing and analysis system, its principles of operation, and as a reference manual for its use. 21 refs., 3 figs.