ABSTRACT

This paper propose a real-time vision architecture for mobile robotics, and describes a current implementation that is characterised by: low computational cost, low latency, low power, high modularity, configuration, adaptability and scalability. A pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. A new method using run length encoding (RLE) colour transition allows real-time edge determination at low computational cost. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical autonomous systems applications.