Fusion of registered 2D intensity and 3D range data on an SIMD machine

Jean-Francois Methot; Denis Poussart; Robert Bergevin

doi:10.1117/12.155089

3 September 1993 Fusion of registered 2D intensity and 3D range data on an SIMD machine

Jean-Francois Methot, Denis Poussart, Robert Bergevin

Proceedings Volume 1956, Sensor Fusion and Aerospace Applications; (1993) https://doi.org/10.1117/12.155089
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

The present work outlines a design strategy whereby 2D intensity and 3D range data are fused in order to yield higher accuracy range sensing. The proposed method can be applied to a wide variety of range finder systems with minor or no changes in the procedure used for raw data acquisition. The approach exploits a modified shape-from-shading algorithm which allows the inclusion of range data. The algorithm has been mapped on an SIMD parallel computer with 2048 processors. Since this is a data parallel problem needing only local communications, the efficiency of the execution is quite high and we have observed speed gains of sixty compared to a SunSPARC. The precision improvement obtained for the range image has been evaluated for a variety of 3D scenes, and is typically better than 2 bits.

Citation Download Citation

Jean-Francois Methot, Denis Poussart, and Robert Bergevin "Fusion of registered 2D intensity and 3D range data on an SIMD machine", Proc. SPIE 1956, Sensor Fusion and Aerospace Applications, (3 September 1993); https://doi.org/10.1117/12.155089

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