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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 functionand data-domain paralleliza-

A WAIT-FREE REALTIME SYSTEM FOR OPTIMAL DISTRIBUTION OF VISION TASKS ON MULTICORE ARCHITECTURES