Title :
Visual navigation system based on evolutionary computation on FPGA for patrol service robot
Author :
Asami, Kenichi ; Hagiwara, Hayato ; Komori, Mochimitsu
Author_Institution :
Dept. of Appl. Sci. for Integrated Syst. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
The visual navigation system for a patrol service robot using image processing and evolutionary computation on FPGA is presented. The image processing and evolutionary computation are implemented into a reconfigurable device as original logic. The image processing circuit captures digital images from CMOS camera, extracts the edge and feature points in the images for self-localization to adjust the current course on the traveling map data. The genetic algorithm optimizes threshold values for the filtering operations according to various lighting environments. The visual navigation system has been developed for the linkage between flexible hardware circuits and real-time software applications for robot vision purpose.
Keywords :
CMOS image sensors; edge detection; evolutionary computation; field programmable gate arrays; filtering theory; path planning; robot vision; service robots; CMOS camera; FPGA; edge extraction; evolutionary computation; feature points; filtering operations; flexible hardware circuits; image processing; image processing circuit; patrol service robot; real-time software applications; reconfigurable device; robot vision; visual navigation system; Field programmable gate arrays; Image edge detection; Mobile robots; Navigation; Service robots; Visualization; evolutionary robotics; genetic algorithm; image processing; patrol service robot; visual navigation system;
Conference_Titel :
Consumer Electronics (GCCE), 2012 IEEE 1st Global Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4673-1500-5
DOI :
10.1109/GCCE.2012.6379607
