International Journal of Computer & Software Engineering Volume 1 (2016), Article ID 1:IJCSE-107, 6 pages
Review Article
ViSel-TR: A Novel Approach for Developing Component-based Vision Systems Working in Unstructured Environments

Bárbara Álvarez*, Pedro J. Navarro, Diego Alonso, Pedro Sánchez and Andrés Iborra

Division of Systems and Electronic Engineering, Universidad Politécnica de Cartagena, Campus Muralla del Mar, E-30202, Spain
Dr. Bárbara Álvarez, Division of Systems and Electronic Engineering. Universidad Politécnica de Cartagena, Campus Muralla del Mar, E-30202, Spain; E-mail:
20 January 2016; 08 November 2016; 10 November 2016
Álvarez B, Navarro PJ, Alonso D, Sánchez P, Iborra A (2016) ViSel-TR: A Novel Approach for Developing Component-based Vision Systems Working in Unstructured Environments. Int J Comput Softw Eng 1: 107. doi:
This work has been partially supported by the Spanish Ministry of Economy and Competitiveness projects ViSel-TR (ref. TIN2012- 39279), cDrone(ref. TIN2013-45920-R), and the “Research Programme for Groups of Scientific Excellence at Region of Murcia" of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia – 19895/GERM/15). Diego Alonso thanks the Spanish Ministerio de Educación, Cultura y Deporte, Subprograma Estatal de Movilidad, Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 for grant CAS14/00238.


One of the main tasks of vision systems is to support autonomous vehicle navigation in unstructured environments, where unexpected objects can suddenly appear. For this, they can use various information sources (cameras, ultrasonic sensors, GPS systems, LIDAR, etc.) to model the environment in which they operate. All these data are combined to extract all the information needed to guide their movement through the environment. The complexity of this task prevents the integration of vision systems into real-time control systems (autonomous vehicles, mobile robots, etc.). This is because most of the research carried out within the computer vision field focuses on hardware development or on creating new algorithms and methods for performing the analysis and manipulation of the image data. However, system development issues are treated as secondary. Consequently, designs are very efficient but very little reusable. On the other hand, real-time systems possess features that make them particularly sensitive to whatever architectural decisions are made. The use of software frame works and components has demonstrated its effectiveness in improving software productivity and quality. This work proposes a novel approach, called ViSel-TR, for developing vision systems seeking two main objectives: (1) efficient interpretation and reasonable response time in an unstructured environment and (2) use of different development paradigms offered by software engineering that allow their integration in realtime systems. In order to achieve these objectives, ViSel-TR uses model driven software development techniques in order to separate the description of component-based real-time applications from their possible implementations for different platforms.