Principles of Computer System Design for Stereo Perception

Michael D. Wagner, David O'Hallaron, Dimitrios (Dimi) Apostolopoulos, and Christopher Urmson
tech. report CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002


Download
  • Adobe portable document format (pdf) (987KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper presents principles for designing a computer system that supports stereo perception for an autonomous, mobile robot. These principles aid the engineer in selecting a CPU and network bus to maintain an acceptable level of robotic capability without needlessly large performance margins, which can result in excessive system power consumption. A series of configuration equations are presented that describe relationships between important system parameters such as CPU clock speed, network communication latency, computer power consumption, robot response distance, robot velocity and stereo camera parameters. Configuration equations are intended to improve the engineer? ability to make trade-off decisions early in the design process. An application of these principles on an existing autonomous mobile robot, Hyperion, are presented both as an example and to outline future work.

Notes
Associated Center(s) / Consortia: Field Robotics Center

Text Reference
Michael D. Wagner, David O'Hallaron, Dimitrios (Dimi) Apostolopoulos, and Christopher Urmson, "Principles of Computer System Design for Stereo Perception," tech. report CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002

BibTeX Reference
@techreport{Wagner_2002_3893,
   author = "Michael D Wagner and David O'Hallaron and Dimitrios (Dimi) Apostolopoulos and Christopher Urmson",
   title = "Principles of Computer System Design for Stereo Perception",
   booktitle = "",
   institution = "Robotics Institute",
   month = "January",
   year = "2002",
   number= "CMU-RI-TR-02-01",
   address= "Pittsburgh, PA",
}