Robot Vision VLSI Processor for the Rectangular Solid Representation of 3-Dimensional Objects
Masanori Hariyama, Yuichi Araumi, and Michitaka Kameyama
Department of Computer and Mathematical Sciences Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, 980-77, Japan
A compact rectangular solid representation of the 3-dimensional (3-D) objects is proposed for motion planning of intelligent robots. A VLSI-oriented algorithm is considered by which the discrete point representation of a 3-D object is transformed to the rectangular solid representation. A new architecture is proposed to perform matching operations between a rectangular solid and discrete points in parallel. The performance evaluation shows that the designed VLSI processor is 25,000 times faster than the RAM-based architecture.