Authors:
Stefán Freyr Stefánsson
1
;
Björn Þór Jónsson
1
and
Kristinn R. Thórisson
2
Affiliations:
1
Database Lab and School of Computer Science, Reykjavík University, Iceland
;
2
CADIA and School of Computer Science, Reykjavík University, Iceland
Keyword(s):
YARP, Computer vision, Architecture, Performance evaluation.
Related
Ontology
Subjects/Areas/Topics:
Computer Vision, Visualization and Computer Graphics
;
Image Formation and Preprocessing
;
Image Formation, Acquisition Devices and Sensors
;
Implementation of Image and Video Processing Systems
Abstract:
The complexity of advanced robot vision systems calls for an architectural framework with great flexibility with regards to sensory, hardware, processing, and communications requirements. We are currently developing a system that uses time-of-flight and a regular video stream for mobile robot vision applications. We present an architectural framework based on YARP, and evaluate its efficiency. Overall, we have found YARP to be easy to use, and our experiments show that the overhead is a reasonable tradeoff for the convenience.