RECIPE - A System for Building Extensible, Run-time Configurable, Image Processing Systems

摘要

. 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 ...