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An Embedded Multi-camera System for Simultaneous Localization and Mapping

  • Vanderlei Bonato
  • José A. de Holanda
  • Eduardo Marques
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3985)

Abstract

This paper presents an embedded multi-camera system for Simultaneous Localization and Mapping (SLAM) for mobile robots. The multi-camera system has been designed and implemented as a SoC (System-on-a-Chip), using reconfigurable computing technology. In this system the images are captured in real-time by means of four CMOS digital cameras. After some pre-processing steps, those images are sent to an embedded softcore processor by a direct memory access (DMA) channel. In this system, images are captured, pre-processed and sent to the embedded processor at 30 frames per second in color mode and 60 frames per second in gray-scale mode. This paper also shows the main advantages of using multi-cameras to implement SLAM based on the Extended Kalman Filter.

Keywords

Mobile Robot Extend Kalman Filter Direct Memory Access Smart Camera Direct Memory Access Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Vanderlei Bonato
    • 1
  • José A. de Holanda
    • 1
  • Eduardo Marques
    • 1
  1. 1.Institute of Mathematics and Computing SciencesUniversity of São PauloSão PauloBrazil

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