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Exploration architecturale pour la conception d'un système sur puce de vision robotique, adéquation algorithme-architecture d'un système embarqué temps-réel

Abstract : This Ph.D Thesis stands at the crossroads of three scientific domains : algorithmarchitecture adequacy, bio-inspired vision systems in mobile robotics, and image processing. The goal is to make a robot autonomous in its visual perception, by the integration to the robot of this cognitive task, usually executed on remote processing servers. To achieve this goal, the design approach follows a path of algorithm architecture adequacy, where the different image processing steps of the vision system are minutely analysed. The image processing tasks are adapted and implemented on an embedded architecture in order to respect the real-time constraints imposed by the robotic context. Mobile robotics as an academic research topic based on bio-mimetism. The artificial vision system studied in our context uses a bio-inspired multiresolution approach, based on the extraction and formatting of interest zones of the image. Because of the complexity of these tasks and the many constraints due to the autonomy of the robot, the implementation of this vision system requires a rigorous and complete procedure for the software and hardware architectural exploration. This processus of exploration of the design space is presented in this document. The results of this exploration have led to the design of an architecture primarly based on parametrable and scalable dedicated hardware processing units (IPs), which will be implemented on an FPGA reconfigurable circuit. These IPs and the inner workings of each of them are described in the document. The impact of their architectural parameters on the FPGA resources is studied for the main processing units. The implementation of the software part is presented for several potential FPGA platforms. The achieved performance for this architectural solution are finally presented. These results allow us to conclude that the proposed solution allows the vision system to be embedded in mobile robots within the imposed real-time constraints.
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https://tel.archives-ouvertes.fr/tel-00782081
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Submitted on : Tuesday, January 29, 2013 - 10:05:33 AM
Last modification on : Monday, January 25, 2021 - 3:16:04 PM
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  • HAL Id : tel-00782081, version 1

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Thomas Lefebvre. Exploration architecturale pour la conception d'un système sur puce de vision robotique, adéquation algorithme-architecture d'un système embarqué temps-réel. Systèmes embarqués. Université de Cergy Pontoise, 2012. Français. ⟨tel-00782081⟩

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