Real-time optical-flow range estimation on the iWarp

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Abstract
This paper describes the implementation of an optical flow range-estimation algorithm, intended to support autonomous helicopter navigation, on the iWarp distributed-memory multicomputer. The implementation exploits numerous features of the iWarp communications and computation architecture to maximize performance and efficiency. The range-estimation algorithm has been previously implemented on both distributed and shared-memory workstations. Experiences and performance figures from the initial iWarp implementation are discussed along with plans for future refinements.

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