Cellular multiadaptive analogic architecture: A computational framework for UAV applications

Csaba Rekeczky, Istvan Szatmari, Dávid Bálya, Gergely Tímár, A. Zarándy

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

An efficient adaptive algorithm in real-time applications should make optimal use of the available computing power for reaching some specific design goals. Relying on appropriate strategies, the spatial resolution/temporal rate can be traded against computational complexity; and sensitivity traded against robustness, in an adaptive process. In this paper, we present an algorithmic framework where a spatial multigrid computing is placed within a temporal multirate structure, and at each spatial grid point, the computation is based on an adaptive multiscale approach. The algorithms utilize an analogic (analog and logic) architecture consisting of a high-resolution optical sensor, a low-resolution cellular sensor-processor and a digital signal processor. The proposed framework makes the acquisition of a spatio-temporally consistent image flow possible even in case of extreme variations (relative motion) in the environment. It ideally supports the handling of various difficult problems on a moving platform including terrain identification, navigation parameter estimation, and multitarget tracking. The proposed spatio-temporal adaptation relies on a feature-based optical-flow estimation that can be efficiently calculated on available cellular nonlinear network (CNN) chips. The quality of the adaptation is evaluated compared to nonadaptive spatio-temporal behavior where the input flow is oversampled, thus resulting in redundant data processing with an unnecessary waste of computing power. We also use a visual navigation example recovering the yaw-pitch-roll parameters from motion-field estimates in order to analyze the adaptive hierarchical algorithmic framework proposed and highlight the application potentials in the area of unmanned air vehicles.

Original languageEnglish
Pages (from-to)864-884
Number of pages21
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
Volume51
Issue number5
DOIs
Publication statusPublished - May 2004

Fingerprint

Unmanned aerial vehicles (UAV)
Navigation
Nonlinear networks
Optical flows
Optical sensors
Digital signal processors
Adaptive algorithms
Parameter estimation
Computational complexity
Identification (control systems)
Sensors
Air

Keywords

  • Adaptive computing
  • Analogic cellular neural network (CNN)
  • Cellular computing
  • UAV
  • Vision system

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Cellular multiadaptive analogic architecture : A computational framework for UAV applications. / Rekeczky, Csaba; Szatmari, Istvan; Bálya, Dávid; Tímár, Gergely; Zarándy, A.

In: IEEE Transactions on Circuits and Systems I: Regular Papers, Vol. 51, No. 5, 05.2004, p. 864-884.

Research output: Contribution to journalArticle

Rekeczky, Csaba ; Szatmari, Istvan ; Bálya, Dávid ; Tímár, Gergely ; Zarándy, A. / Cellular multiadaptive analogic architecture : A computational framework for UAV applications. In: IEEE Transactions on Circuits and Systems I: Regular Papers. 2004 ; Vol. 51, No. 5. pp. 864-884.
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