| Download | - View accepted manuscript: MDSP:a Modular DSP Architecture for a Real-Time 3D Laser Range Sensor (PDF, 1.0 MiB)
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| Author | Search for: Green, David; Search for: Blais, François; Search for: Beraldin, Jean-Angelo; Search for: Cournoyer, Luc |
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| Format | Text, Article |
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| Conference | Proceedings of the Electronic Imaging 2002 Conference, January 20-25, 2002., San Jose, California, USA |
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| Subject | 3D laser scanners; Real-time operating systems; Multiprocessors; Digital signal processors; systèmes d'exploitation temps réel; multiprocesseur; processeur de signal numérique |
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| Abstract | By combining a number of embedded digital signal processors (DSPs) within a desktop PC, we have developed a system that offers not only the mass storage, network utilities, user interface and presentation graphics of a regular PC, but also the real-time response rates normally associated only with embedded systems. In this paper we outline the design of such a system that has been built to demonstrate a real-time 3D laser range sensor. The prototype range sensor consists of a custom-built auto-synchronized 3D laser scanner head that is directly interfaced to off-the-shelf computing hardware. The hardware includes a number of PCI bus DSP cards that communicate using dedicated high-speed interprocessor links. Communication between the desktop PC and the embedded DSPs uses the PCI bus. This processing power will be required to achieve real-time data acquisition and 3D geometrical tracking capabilities. This paper outlines the prototype 3D laser range sensor and describes its computing architecture. The embedded DSPs run under a commercial multiprocessor real-time operating system. This combination leads to a highly modular system in which processors may be added or removed with minimal side effects. |
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| Publication date | 2002 |
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| Language | English |
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| NRC number | NRCC 44896 |
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| NPARC number | 5765299 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 27b4e566-49ea-4e07-a71d-2696d7f324bc |
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| Record created | 2009-03-29 |
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| Record modified | 2020-03-30 |
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