Title :
Embedded CMOS imaging system for real-time robotic vision
Author :
Andrian, Henrry ; Song, Kai-Tai
Author_Institution :
Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
This paper presents a real-time robotic vision system that provides visual information for a control scheme of mobile manipulation. The hardware implementation consists of a CMOS image board and a TI DSP board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation proposes a visual servoing using a behavior-based approach to solving the mobile manipulator control problem. The description of the hardware and software implementation is given and experimental results are discussed.
Keywords :
CMOS image sensors; digital signal processing chips; embedded systems; image sequences; manipulators; mobile robots; robot vision; CMOS image board; TI DSP board; embedded CMOS imaging system; mobile manipulator control; optical flow; real-time robotic vision; visual information; visual servoing; CMOS process; Control systems; Costs; Digital signal processing; Hardware; Machine vision; Mobile robots; Real time systems; Robot vision systems; Visual servoing; CMOS image board; Mobile manipulator; embedded platform; optical flow; visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545544