Advanced Vision Processor with an Overall Image Processing Unit and Multiple Local Image Processing Modules

This paper proposes a new concept for image recognition and understanding whereby both overall and local image processing are executed in parallel. Using this concept, we have developed an advanced vision processor that can recognize moving objects and handle moving pictures. The vision processor cames out feature extraction for image recognition by means of several local processors in parallel from time varying images on which an overall image processing unit has performed low-level operations such as data conversion and filtering. Special characteristics of the system are that each local processor processes only its region of interest, the division of regions being determined from the image feature and contents. A balloon-juggling robot has been developed to demonstrate the capability of the system. The system recognizes the balloon and measures its 3-D position in real time. The robot hits the balloon by using the 3D data.