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다중 TMS320C31 DSP 를 사용한 3-D 비젼세서 Implementation
Miche, Pierre,Bensrhair, Abdelaziz,이상국,Oksenhendler, V. 한국센서학회 1998 센서학회지 Vol.7 No.2
High-speed 3D vision systems are essential for autonomous robot or vehicle control applications. In our study, a stereo vision process has been developed. It consists of three steps : extraction of edges in right and left images, matching corresponding edges and calculation of the 3D map. This process is implemented in a VME 150/40 Imaging Technology vision system. It is a modular system composed by a display, an acquisition, a four Mbytes image frame memory, and three ccomputational cards. Programmable accelerator computational modules are running at 40 MHz and are based on TMS320C31 DSP with a 64x32 bit instruction cache and two 1024x32 bit internal RAMs. Each is equipped with 512 Kbytes static RAM, 4 Mbytes image memory, 1 Mbytes flash EEPROM and a serial port. Data transfers and communications between modules are provided by three 8 bit global video bus, and three local configurable pipeline 8 bit video bus. The VME bus is dedicated to system management. Tasks between DSPs are distributed as follows: two DSPs are used to edges detection, one for the right image and the other for the left one. The last processor computes the matching process and the 3D calculation. With 512x512 pixels images, this sensor generates dense 3D maps at a rate of about 1 Hz depending of the scene complexity. Results can surely be improved by using a special suited multiprocessors cards.
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