An Embedded Multi-camera System for Simultaneous Localization and Mapping

  • Vanderlei Bonato
  • José A. de Holanda
  • Eduardo Marques
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3985)


This paper presents an embedded multi-camera system for Simultaneous Localization and Mapping (SLAM) for mobile robots. The multi-camera system has been designed and implemented as a SoC (System-on-a-Chip), using reconfigurable computing technology. In this system the images are captured in real-time by means of four CMOS digital cameras. After some pre-processing steps, those images are sent to an embedded softcore processor by a direct memory access (DMA) channel. In this system, images are captured, pre-processed and sent to the embedded processor at 30 frames per second in color mode and 60 frames per second in gray-scale mode. This paper also shows the main advantages of using multi-cameras to implement SLAM based on the Extended Kalman Filter.


Mobile Robot Extend Kalman Filter Direct Memory Access Smart Camera Direct Memory Access Controller 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Vanderlei Bonato
    • 1
  • José A. de Holanda
    • 1
  • Eduardo Marques
    • 1
  1. 1.Institute of Mathematics and Computing SciencesUniversity of São PauloSão PauloBrazil

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