2A1-S04 Real Time Parallel Implementation of Dynamic Feature Detection on Embedded Robot Platforms

Abstract

Autonomous robots with visual sensors like cameras must navigate the environment without colliding with map-features which could be static or dynamic. Unlike the static features, the dynamic features needs to be detected in real time, quickly. This paper presents a parallel implementation of dynamic feature detection on embedded robot platforms. The proposed algorithm uses robot profiles which sets the frame-rate and resolution of camera based on speed of the robot. The proposed algorithm is accelerated on ARM's NEON SIMD engine and can detect dynamic features of the environment in real time.