Title :
Real-time image processing system by using FPGA for service robots
Author :
Hagiwara, Hayato ; Asami, Kenichi ; Komori, Mochimitsu
Author_Institution :
Dept. of Appl. Sci. for Integrated Syst. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
This paper presents a real-time image processing system for a mobile service robot which is implemented by an FPGA reconfigurable logic device. The digital image processing acquired by a CMOS image sensor is performed on the embedded FPGA board and Linux-based real-time video communication module. The integrated robot vision system aims to achieve a suitable platform available from both hardware and software. In addition, we also present spatial recognition by edge detection and tracking function of moving objects by using the frame difference method which is necessary for autonomous mobile robots.
Keywords :
CMOS image sensors; Linux; control engineering computing; edge detection; field programmable gate arrays; mobile robots; object tracking; robot vision; service robots; CMOS image sensor; FPGA reconfigurable logic device; Linux-based real-time video communication module; edge detection; embedded FPGA board; frame difference method; mobile service robot; moving object tracking function; real-time image processing system; robot vision system; spatial recognition; CMOS integrated circuits; Cameras; Field programmable gate arrays; Image color analysis; Real-time systems; Robot vision systems; FPGA; autonomous mobile robots; device driver; real-time linux; robot vision 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.2012.6379964
