LiU Electronic Press
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Author:
Nordberg, Klas (Linköping University, The Institute of Technology) (Linköping University, Department of Electrical Engineering, Computer Vision)
Doherty, Patrick (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Forssén, Per-Erik (Linköping University, The Institute of Technology) (Linköping University, Department of Electrical Engineering, Computer Vision)
Wiklund, Johan (Linköping University, The Institute of Technology) (Linköping University, Department of Electrical Engineering, Computer Vision)
Andersson, Per
Title:
A flexible runtime system for image processing in a distributed computational environment for an unmanned aerial vehicle
Department:
Linköping University, Department of Electrical Engineering, Computer Vision
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Status:
Published
In:
International Journal of Pattern Recognition and Artificial Intelligence, ISSN 0218-0014
Volume:
20
Issue:
5
Pages:
763-780
Year of publ.:
2006
URI:
urn:nbn:se:liu:diva-48072
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-48072
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
image processing, autonomous systems, reconfigurability, runtime system for image processing, data flow graphs, unmanned aerial vehicles
Abstract(en) :

A runtime system for implementation of image processing operations is presented. It is designed for working in a flexible and distributed environment related to the software architecture of a newly developed UAV system. The software architecture can be characterized at a coarse scale as a layered system, with a deliberative layer at the top, a reactive layer in the middle, and a processing layer at the bottom. At a finer scale each of the three levels is decomposed into sets of modules which communicate using CORBA, allowing system development and deployment on the UAV to be made in a highly flexible way. Image processing takes place in a dedicated module located in the process layer, and is the main focus of the paper. This module has been designed as a runtime system for data flow graphs, allowing various processing operations to be created online and on demand by the higher levels of the system. The runtime system is implemented in Java, which allows development and deployment to be made on a wide range of hardware/software configurations. Optimizations for particular hardware platforms have been made using Java's native interface.

Available from:
2009-10-11
Created:
2009-10-11
Last updated:
2009-11-26
Statistics:
138 hits