This thesis examines a complete design framework for a real-time, autonomous system with specialized VLSI hardware for computing 3-D camera motion. In the proposed architecture, the first step is to determine point correspondences between two images. Two processors, a CCD array edge detector and a mixed analog/digital binary block correlator, are proposed for this task. The report is divided into three parts. Part I covers the algorithmic analysis; part II describes the design and test of a 32$\time $32 CCD edge detector fabricated through MOSIS; and part III compares the design of the mixed analog/digital correlator to a fully digital implementation.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/6778 |
| Date | 28 November 1994 |
| Creators | Dron, Lisa |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | en_US |
| Detected Language | English |
| Format | 309 p., 5270113 bytes, 19301994 bytes, application/octet-stream, application/pdf |
| Relation | AITR-1498 |
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