Handling of Asynchronous Data Flow in Robot Perception Subsystems

  • Maciej Stefańczyk
  • Tomasz Kornuta
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8810)

Abstract

Robot perception subsystems typically form complex networks, with boxes representing computations and arrows presenting the exchanged data. Taking into account that data acquired from robot sensors may arrive with different frequencies, as well as that computations may by performed on different processor cores, a problem of handling of asynchronous data flows appears. Hence appropriate tools facilitating the implementation are highly demanded. In this article we propose a solution to the aforementioned problem, enabling the activation of a conditional behaviour of a given computational block, depending on the presence of data in its input buffers. Theoretical considerations led to the implementation of these mechanisms in a component-oriented framework for development of robot perception subsystems: DisCODe. Operation of the solution was verified on an exemplary perception subsystem using RGB-D camera.

Keywords

robot perception component framework DisCODe asynchronous data flow 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Maciej Stefańczyk
    • 1
  • Tomasz Kornuta
    • 1
  1. 1.Institute of Control and Computation EngWarsaw University of TechnologyWarsawPoland

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