Ensemble Coordination Approach in Multi-AGV Systems Applied to Industrial Warehouses
The distance transform (DT) and the medial axis transform (MAT) are two important image operations. They are both used to extract of the information about the shape and the position of the foreground pixels relative to each other. Many applications of these transforms are applied in the fields of image processing and computer vision, such as expanding shrinking, thinning a n d computing shape factor, etc. Each of these two transforms is essentially a global operation. Unless the digital image is very small, a l l g l o b a l operations are prohibitively costly. In order to provide the eficient transform computations, it is considerably de sired 2 0 develop parallel algorithms for these two operations. In this paper, we provide the fastest parallel algorithms to compute the chessboard distance transform (CDT) which is a D T based on the chessboard metrics, and the medial axis transform (MAT). Each of the transforms of a 2-D binary image array of size N x N can be computed in O(1) time on the 2-D 2 N x 2 N RAP.