by T Arbuckle and M Beetz
Abstract:
This paper describes the design, and implementation of RECIPE, an extensible, run-time configurable, image capture and processing system specifically designed for use with robotic systems and currently under active development here at Bonn. Robotic systems, particularly autonomous robotic systems, present both challenges and opportunities to the implementors of their vision systems. On the one hand, robotic systems constrain the vision systems in terms of their available resources and in the specific form of the hardware to be employed. On the other hand, intelligent processes can employ sensory input to modify the image capture and image processing to fit the current context of the robot. RECIPE meets these challenges while facilitating the modular development of efficient image processing operations. Implementing all of its functionality within a platform and compiler neutral framework as scriptable, active objects which are dynamically loaded at run-time, RECIPE provides a common basis for the development of image processing systems on robots. At the same time, it permits the image processing operations being employed by the robot system to be monitored and adjusted according to all of the sensory information available to the robot, encouraging the deployment of efficient, context specific, algorithms. Finally, it has been designed to encourage robust, fault-tolerant approaches to the action of image processing.
Reference:
RECIPE - A System for Building Extensible, Run-time Configurable, Image Processing Systems (T Arbuckle and M Beetz), In Proceedings of Computer Vision and Mobile Robotics (CVMR) Workshop, 1998.
Bibtex Entry:
@inproceedings{arbuckle_recipe_1998,
author = {T Arbuckle and M Beetz},
title = {{RECIPE} - A System for Building Extensible, Run-time Configurable,
Image Processing Systems},
booktitle = {Proceedings of Computer Vision and Mobile Robotics ({CVMR)} Workshop},
year = {1998},
pages = {91–98},
abstract = {This paper describes the design, and implementation of {RECIPE}, an
extensible, run-time configurable, image capture and processing system
specifically designed for use with robotic systems and currently
under active development here at Bonn. Robotic systems, particularly
autonomous robotic systems, present both challenges and opportunities
to the implementors of their vision systems. On the one hand, robotic
systems constrain the vision systems in terms of their available
resources and in the specific form of the hardware to be employed.
On the other hand, intelligent processes can employ sensory input
to modify the image capture and image processing to fit the current
context of the robot. {RECIPE} meets these challenges while facilitating
the modular development of efficient image processing operations.
Implementing all of its functionality within a platform and compiler
neutral framework as scriptable, active objects which are dynamically
loaded at run-time, {RECIPE} provides a common basis for the development
of image processing systems on robots. At the same time, it permits
the image processing operations being employed by the robot system
to be monitored and adjusted according to all of the sensory information
available to the robot, encouraging the deployment of efficient,
context specific, algorithms. Finally, it has been designed to encourage
robust, fault-tolerant approaches to the action of image processing.},
}