Temporally optimized edge segmentation for mobile robotics applications

摘要

As an <i>Edge</i> may be an interesting image feature to extract for robotic visual tasks such as the 3D modelization of the environment of robots by stereovision, we propose in this paper a methodology to implement edge segmentation, then we apply it to design a <i>Temporally Optimized Edge Segmentation for Mobile Robotics Applications</i>. Using our methodology, we show how it is possible to reduce the duration of an edge detection operator from 100.62ms for the slower case to 10.8ms for the faster one. This represents a gain of nearly 90ms for the processing time, so nearly a factor of 10 for the speed up.