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65 Imaging for Robotics part2




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This article is from the Robotics FAQ, by Kevin Dowling nivek@cs.cmu.edu with numerous contributions by others.

65 Imaging for Robotics part2



"Mandex Technology, Inc."
1191 Chicago Road
Troy, MI 48083
tel: 810.585.1165
fax: 810.585.3745
contact: M. Gupte
SMART EYE I: DSP-based real-time image processing system designed
specifically for mobile and fixed base robotics systems. Stand-alone
image processing system on a single board. Low power consumption,
small form factor, and low weight. The single board system includes:
four monochrome camera inputs, video digitizer (gain and offset
software adjustable), input look-up table, two frame grabbers,
additional two video buffers, color mappable image display buffer,
color mappable graphics overlay buffer, RGB display driver, serial
communications port, and application program RAM and EPROM. Program
code can be burned into EPROM. Wide variety of language and
development platform support. Additional hardware expansion to
provide addtional I/O capabilities.

"Matrox International Corp."
1055 St. Regis Blvd. Dorval
Quebec, Canada H9P 2T4
tel: 514.685.2630
tel: 800.361.4903
contact:Spiro Plagakis - sales rep
fax: 514.685.2853
The IMAGE series consists of the following mutually compatible
hardware:
* IMAGE-1280 Baseboard consists of a TMS34020 GSP, TMS34082 FPU, 4Mb
of DRAM, custom ASICS for fast data transfer, and a high
resolution RGB display driver.
* IMAGE-ASD is a monochrome acquisition card that plugs into the ISA
bus.
* IMAGE-CLD is a color acquisition card that does realtime RGB to
HSI conversion and also plugs into the ISA bus.
* IMAGE-RTP performs a whole slew of processing functions using a
bunch of ASICS (e.g. histograms, LaPlacians, morphologies, logical
operators, erosion, dilation, centroids, pattern matching, more)
* IMAGE-FPU accelerates large kernel convolutions and FFTs

Matrox also offers an extensive image processing library and
utilities that run under Windows.

"Sharp Electronics"
16841 Armstrong Ave.
Irvine, CA 92714
tel: 714.261.6224
tel: 800.562.7427
fax: 714.261.9321
The basic system that Sharp offers is the GPB-1

Input:
4 multiplexed RS-170 inputs 8 bit greyscale. Optional 'Incard'
allows 3 parallel camera inputs, or one RGB input, but occupies
another ISA slot.

Memory:
12 512x512x8 bit framestores.

Bus:
ISA

Processing:
High-speed ASICS which perform convolution, histogram analysis,
feature extraction, connectivity analysis, more. These
operations all take place at 40 ns/pixel. Thus, for example, a
3x3 convolution takes 12 ms for a 512x512x8 bit image. Other
processing boards (see below) are available and external
interfaces are provided for the addition of a separate Alacron
i860 card with 80 Mflops of performance (available 2/95).

Other:
VGA output for displaying images. An optional 'Single monitor
adapter' acts as the system VGA adapter.

There are four function-specific computational cards that plug into
the GPB-1:
1. Alignment card: performs normalized correlation with model data.
2. Auxlut card: has dual 64k 16 bit input 8 bit output lookup tables.
A possible application would be RGB to HSI conversion.
3. Auxwarp Card: 'a pixel re-sampler that may be used to modify the
geometric shape of an object.'
4. Memory Mapping: Maps large amounts of image data to ISA bus and
allows random access of regions of interest, say. Also it allows
new GPB-1 commands to be loaded in and ready to go while the GPB-1
is busy with its current command. Occupies a separate ISA slot.

Sharp also has available a Windows algorithm development tool which
allows the user to develop algorithms using interpreted scripts --
thus eliminating the compiling step. The scripts can then be
converted to C-code and compiled, if appropriate. Over 250
C-callable image processing functions are provided.
The basic GPB-1 system costs $11,000. A system with an Incard, and
Auxlut runs around $20,000.

"Teleos Research"
576 Middlefield Road
Palo Alto, CA 94301, USA
tel: 415/328-8800
fax: 415/328-8880
net: info@teleos.com
URL: [64]http://teleos.com/ Advanced Vision Platform, AVP-100
provides:
* stereo range measurements
* motion measurements
* 3D model-based object tracking
* video frame rate performance

AVP-100 consists of a video processing unit containing an embedded
processor, the new PRISM-4 accelerator board, and interface modules.
To use the system, all that is required is a camera and a host
processor with an Ethernet interface.
Connect to [65]http://teleos.com/ for more information or send
e-mail to info@teleos.com with the subject 'AVP-100'. "TIM-40
PC-based Vision Systems"

There are about a handful of companies that support TIM-40 module
platforms. (TIM-40 is a specification developed by TI and industry
to incorporate the TMS320C40 into a flexible, modular architecture.
A single TIM-40 module is 2.5" x 4.2".) The C40 is often referred to
as a 'next generation transputer' because of its six 20Mb per sec.
comports which make connecting multiple C40s together very easy. The
speed at which data can be exchanged makes it well suited for
multiprocessor image processing. A system consists of a computer
host-specific motherboard (that the TIM-40 modules plug into) and
the appropriate TIM-40 modules. All companies listed below support
both VME and PC/ISA daughter boards, however, only the PC/ISA boards
are described. Since these systems typically consist of more than
one processor, development software that supports multiple
processors would be nice. 3L Parallel C is an ANSI C compiler that
allows you to write multitasked software and divide the tasks
between the available processors at compile time. It's built ontop
of the TI C compiler which is known for its optimizing and efficient
instruction scheduling. Data is sent between arbitrary tasks (which
may reside on separate processors) by sending C structures. Thus,
the development environment is comfortable and intuitive. All
companies listed offer 3L Parallel C.

"Transtech Parallel Systems Corp."
20 Thornwood Drive
Ithaca, NY 14850-1263
tel: 607.257.6502 Andy Stevens - sales rep
fax: 607.257.2980

TIM-40 PC/AT motherboard: 4 TIM-40 sites. Communication between one
TIM-40 slot and PC takes place through 1K FIFO buffer. JTAG support
for debugging. RGB/Composite framegrabber module: occupies 2 TIM-40
slots and accepts RS-170 RS-330, CCIR, NTSC, PAL, Y/C or RGB. Has an
onboard 50Mhz TMS320C40 (50 MFLOPs). 3Mb of VRAM and up to 4Mb of
DRAM is available. Flexible Memory TIM-40: occupies 1 TIM-40 slot,
has onboard 50 Mhz TMS320C40s (50 MFLOPs) and up to 4Mb of DRAM.
Dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
TMS320C40 (100 MFLOPs) and 512k SRAM per processor. Display TIM-40:
allows display of RGB images.

"Spectrum Signal Processing Inc. "
8525 Baxter Place, 100 Production Court
Burnaby, BC, Canada V5A 4V7
tel: 604 421-5422
fax: 604 421-1764
508 366-7355 Mark Coutour
800 232 1842 Paul DeBruyn
800 663-8986

QPC40 Motherboard: 4 TIM-40 sites. Communication between any of the
4 TIM-40 slots and the PC takes place through 2 16 bit ISA bus
locations (one for transmit, one for receive) per TIM-40 slot. JTAG
support for debugging.

RGB/Composite framegrabber module: occupies 2 TIM-40 slots and
accepts RS-170 or RGB. Has an onboard 50Mhz TMS320C40 (50 MFLOPs)
and a RAMDAC for displaying RGB images. 32kb of EEPROM, 512kb of
SRAM, and up to 16Mb of DRAM is available. Currently, (11/94) this
module is not supported by 3L Parallel C, nor does it have framegrab
software source available.

Several single C40 TIM-40 modules are offered that differ in memory
models -- some have EEPROM for boostrapping, or up to 8Mb of DRAM
offered on a single TIM-40, or up to 65Mb od DRAM on a double
TIM-40.

Dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
TMS320C40 (100 MFLOPs) and 512k SRAM per processor.
Spectrum also offers ILIB -- an image processing library with
routines to perform convolution, LaPlacians, high and lowpass
filtering, more.

"Traquair Data Systems Inc "
Tower Building, 112 Prospect St.
Ithaca, NY 14851
tel: 607.272.4417 Steve Bradshaw
fax: 697.272.6211
HEPC2 Motherboard: 4 TIM-40 Sites. Communication between one TIM-40
slot and the PC host takes place through 2 16 bit ISA locations (one
for transmit, one for receive). JTAG support for debugging.

CFG-RGB framegrabber module: occupies 2 TIM-40 slots and accepts
RS-170 or RGB. Has an onboard 50Mhz TMS320C40 (50 MFLOPs). 1Mb of
VRAM framestore and 4Mb of DRAM memory onboard. Frame grab software
and source is provided.

VIPTIM convolution accelerator: occupies 2 TIM-40 slots. Contains a
50MHz TMS320C40 and ASICs that can convolve at 12.5 million pixels
per sec. with kernels up to 7x6 or 14x3. 3, 1Mb VRAM framestores and
4Mb DRAM memory onboard.

HETwin dual C40 TIM-40: occupies 1 TIM-40 slot, has 2 onboard 50 Mhz
TMS320C40s (100 MFLOPs) and 512kb SRAM per processor. Similar model
with 2 C44s and 1Mb SRAM per processor will be available early 95.
HEQUAD quad C44 TIM-40: occupies 1 TIM-40 slot, and has 4 onboard
TMS320C40s (200 MFLOPs) and 512kb SRAM per processor.
Traquair also offers the following software:

EYELIB: image processing library (different than ILIB (?)) that
performs convolution, histograms, logical operations, more.

CDSOFT: a utility that works with 3L Parallel C that allows the
display of RGB image data to the PC host's VGA monitor in less
than realtime.

Mathlib: a math library accelerator for the C40 that in many cases
more than doubles the speed of some floating point calculations
(e.g. sin).

Matlab interface: allows an arbritrary C40 processor to execute
functions in Matlab (that's running on the PC host).

 

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