Performance and Results of the Triple Buffering Built-In in a Raspberry PI to Optimize the Distribution of Information from a Smart Sensor

  • Jose-Luis Jimenez-GarciaEmail author
  • Jose-Luis Poza-Luján
  • Juan-Luis Posadas-Yagüe
  • David Baselga-Masia
  • José-Enrique Simó-Ten
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 290)


Currently, 3D sensors can be considered an evolution of cameras by providing the image with its depth information. These sensors have a generic function and the programmer has to process the received information in order to be adapted and used in a specific environment. In robots navigation, the 3D information can be useful for basic behaviours such as “obstacles avoidance” or even more complex behaviours such as “maps generation”. In this article an image management system provided by the xTion intelligent sensor is presented. The xTion sensor provides a VGA image and a 3D depth, which allows it to be used for several purposes. In order to distribute the data, it is acquired, processed and sent to several clients with a triple buffer system modified to serve the most recent image to the client. The system is programmed in C for Linux and built-in in a Raspberry PI. The article exposes the performance and results from monitoring the frame’s delay comparing it with a simple and a double buffer system widely used in this kind of systems.


intelligent sensors buffering distributing information 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Jose-Luis Jimenez-Garcia
    • 1
    Email author
  • Jose-Luis Poza-Luján
    • 2
  • Juan-Luis Posadas-Yagüe
    • 2
  • David Baselga-Masia
    • 1
  • José-Enrique Simó-Ten
    • 2
  1. 1.School of Engineering in Computer Science (ETSINF)ValenciaSpain
  2. 2.University Institute of Control Systems and Industrial Computing (ai2)Universitat Politècnica de València (UPV)ValenciaSpain

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