Exploration architecturale pour la conception d'un système sur puce de vision robotique, adéquation algorithme-architecture d'un système embarqué temps-réel

TL;DRAbstract

This Ph.D Thesis stands at the crossroads of three scientific domains : algorithm-architecture adequacy, bio-inspired vision systems in mobile robotics, and image processing.The goal is to make a robot autonomous in its visual perception, by the integration to the robot of this cognitive task, usually executed on remote processing servers.To achieve this goal, the design approach follows a path of algorithm architecture adequacy, where the different image processing steps of the vision system are minutely analysed.The image processing tasks are adapted and implemented on an embedded architecture in order to respect the real-time constraints imposed by the robotic context.Mobile robotics as an academic research topic based on bio-mimetism.The artificial vision system studied in our context uses a bio-inspired multi-resolution approach, based on the extraction and formatting of interest zones of the image.Because of the complexity of these tasks and the many constraints due to the autono

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