Date: 25 May 2000

Parallelization Techniques for Spatial-Temporal Occupancy Maps from Multiple Video Streams

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We describe and analyze several techniques to parallelize a novel algorithm that fuses intensity data from multiple video cameras to create a spatial-temporal occupancy map. Instead of tracking objects, the algorithm operates by recognizing free space. The brevity of operations in the algorithm allows a dense spatial occupancy map to be temporally computed at real-time video rates. Since each input image pixel is processed independently, we demonstrate parallel implementations that achieve nearly ideal speedup on a four processor shared memory architecture. Potential applications include surveillance, robotics, virtual reality, and manufacturing environments.