A wait-free realtime system for optimal distribution of vision tasks on multicore architectures

As multicore PCs begin to get the standard, it becomes increasingly important to utilize these resources. Thus we present a multithreaded realtime vision system, which distributes tasks to given resources on a single offthe-shelf multicore PC, applying an optimal-backoff scheduling strategy. Making use of an asynchronous data management mechanism, the system also shows non-blocking and wait-free behaviour, while data access itself is randomized, but weighted. Furthermore, we introduce the top-down concept of Interpretation-Based Preselection in order to enhance data retrieval and a tracking based data storage optimization. On the performance side we prove that functional decomposition and discrete data partitioning result in an almost linear speed-up due to excellent load balancing with concurrent function- and data-domain parallelization.