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JRM Vol.8 No.6 pp. 501-507
doi: 10.20965/jrm.1996.p0501
(1996)

Paper:

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

Received:
October 23, 1996
Accepted:
November 15, 1996
Published:
December 20, 1996
Keywords:
Rectangular solid representation, Minimization of multiple valued logic functions, Content-address able memory, Special-purpose VLSI processor for robotics
Abstract

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.

Cite this article as:
Masanori Hariyama, Yuichi Araumi, and Michitaka Kameyama, “Robot Vision VLSI Processor for the Rectangular Solid Representation of 3-Dimensional Objects,” J. Robot. Mechatron., Vol.8, No.6, pp. 501-507, 1996.
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