CONVOLUTION ALGORITHMS FOR DIRECT SENSOR INTERFACE (DSI) ON CELL ARCHITECTURE.

In response to the stringent real-time requirement of including the vision processing in a closed control loop of a robot system, convolution algorithms are developed featuring a direct sensor interface such that the algorithms avoid the rescanning of the object and can be started as soon as the first set of data is available to the processing system. Algorithms are developed for both linear and area array sensors on a linear cell architecture and a planar cell architecture. The performance of the algorithms and their implications on the architecture are discussed.