robotic mapping and localization with real-time dense stereo on reconfigurable hardware机器人地图和定位与实时密集立体可重构硬件.pdfVIP

Hindawi Publishing Corporation International Journal of Reconfigurable Computing Volume 2010, Article ID 480208, 17 pages doi:10.1155/2010/480208 Research Article Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware John Kalomiros1 and John Lygouras2 1 Department of Informatics and Communications, Technological Educational Institute of Serres, Terma Magnisias, 62124 Serres, Greece 2 Section of Electronics and Information Systems Technology, Department of Electrical Engineering Computer Engineering, School of Engineering, Democritus University of Thrace, 67100 Xanthi, Greece Correspondence should be addressed to John Kalomiros, ikalom@teiser.gr Received 1 March 2010; Revised 20 July 2010; Accepted 20 November 2010 Academic Editor: Viktor K. Prasanna Copyright © 2010 J. Kalomiros and J. Lygouras. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. A reconfigurable architecture for dense stereo is presented as an observation framework for a real-time implementation of the simultaneous localization and mapping problem in robotics. The reconfigurable sensor detects point features from stereo image pairs to use at the measurement update stage of the procedure. The main hardware blocks are a dense depth stereo accelerator, a left and right image corner detector, and a stage performing left-right consistency check. For the stereo-processor stage, we have implemented and tested a global-matching component based on a maximum-likelihood dynamic programming technique. The system includes a Nios II processor for data control and a USB 2.0 interface for host communication. Remote control is u