Component-based approach to robot vision for computational efficiency

Abstract

The purpose of this paper is to show merit and feasibility of the component based approach in robot system integration. Many methodologies such as 'component based approach, 'middle ware based approach' are suggested to integrate various complex functions on robot system efficiently. However, these methodologies are not used to robot function development broadly, because these 'Top-down' methodologies are modeled and researched in software engineering field, which are different from robot function researches, so that cannot be trusted by function developers. Developers' the main concern of these methodologies is the performance decreasing, which origins from overhead of a framework. This paper overcomes this misunderstanding by showing time performance increasing, when an experiment uses 'Self Healing, Adaptive and Growing softwarE (SHAGE)' framework, one of the component based framework. As an example of real robot function, visual object recognition is chosen to experiment.