3D laser range sensors; multiple digital signal processor systems; real-time operating systems; real-time motion detection; systèmes multiprocesseur de signal numérique; systèmes d'exploitation temps réel; détection de mouvements en temps réel
This report describes the implementation of an auto-synchronised 3D laser range scanner and its application to motion detection. The 3D motion detector (3DMD) uses a 3D laser scanner to detect the motion of an object and to display that motion in real-time. The system is based on a real-time modular digital signal processor (DSP) architecture called MDSP. 3DMD is a PC-based system that contains an array of embedded DSP processors that communicate using dedicated communication links. The scalable DSP system is based on a message communication model, rather than a shared memory model. The software is based on Precise/MQX, a commercial real-time operating system. The report describes the principle of operation of 3DMD and describes in detail the hardware and software configuration. The report includes some practical information about how to load and run the system demonstration, and how to develop application software for 3DMD. It concludes with some preliminary performance results.