IMPLEMENTING A FAST 3-D VISION SENSOR WITH MULTIPLE TMS320C31 DSPS

The stereovision process determines the distances of objects by acquiring two images in different positions and studying the difference in locations of the corresponding stereo points. Various techniques have been developed to infer 3-D information from a set of brightness images. One technique, called passive stereovision, is appealing because of its ranging applications and especially because of its ability to work in various illumination conditions and with a large depth range (HOR 91).

This application report describes an automatic stereovision process with mobile robot guidance and autonomous vehicle navigation. Because the performance of this system requires high-speed response, the stereovision algorithms are implemented on specialized architecture that includes three Texas Instruments (TI(TM)) TMS320C31 digital signal processors (DSPs). The 150/40-vision system from Imaging Technology has been chosen to implement the stereovision algorithms because it is a modular system that allows the parallelism of many image treatments.

Experimental results are presented at the end of this paper.

This document was part of the first European DSP Education and Research Conference that took place September 26 and 27, 1996 in Paris. For information on how TI encourages students from around the world to find innovative ways to use DSPs, see TI's World Wide Web site at www.ti.com.

*DISCLAIMER: This document was part of the DSP Solution Challenge 1995 European Team Papers. It may have been written by someone whose native language is not English. TI assumes no liability for the quality of writing and/or the accuracy of the information contained herein.

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