Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Mapping a Single Assignment Programming Language to Reconfigurable Systems
The Journal of Supercomputing
Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
Quasi-Dense Reconstruction from Image Sequence
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Real-Time 2-D Feature Detection on a Reconfigurable Computer
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Real-time stereo vision on the PARTS reconfigurable computer
FCCM '97 Proceedings of the 5th IEEE Symposium on FPGA-Based Custom Computing Machines
Fusion of Vision and Gyro Tracking for Robust Augmented Reality Registration
VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
Inertial Sensed Ego-motion for 3D Vision
Journal of Robotic Systems
A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots
Journal of Signal Processing Systems
A Mersenne Twister Hardware Implementation for the Monte Carlo Localization Algorithm
Journal of Signal Processing Systems
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In the neurological system of primates, changes in posture are detected by the central nervous system through a vestibular process. This process, located in the inner ear, coordinates several system outputs to maintain stable balance, visual gaze, and autonomic control in response to changes in posture. Consequently the vestibular data is merged to other sensing data like touch, vision, .... The visuo-inertial merging is crucial for several tasks like navigation, depth estimation, stabilization. This paper proposes a “primate-inspired” sensing hardware, based on a CMOS imaging and an artificial vestibular system. The whole sensor can be considered like a smart embedded sensor where one of the most original aspects of this approach is the use of a System On Chip implemented in a FPGA to manage the whole system. The sensing device is designed around a 4 million pixels CMOS imager and the artificial vestibular set is composed of three linear accelerometers and three gyroscopes. With its structure, the system provides a high degree of versatility and allows the implementation of parallel image and inertial processing algorithms. In order to illustrate the proposed approach, depth estimation with Kalman filtering implementation is carried out.