System design for an autonomous smart vision system

Abstract

Abstract: A major problem in the area of service robotics is the limitation of the processing capability within the system. Especially vision-based sensors have high demands on realtime control. This paper presents an au-tonomous subsystem for FireWire cameras which can be adapted to various tasks, ranging from simple control up to image (pre)processing. The system contains an embedded processor as well as dedicated hardware for signal preprocessing realized on a FPGA prototyping board.