An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots
Joint Authors
Llanos, Carlos H.
Muñoz, Daniel M.
Mori, Jones Y.
Arias-Garcia, Janier
Sánchez-Ferreira, Camilo
Motta, J. M. S. T.
Source
International Journal of Reconfigurable Computing
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-06-12
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Topics
Abstract EN
This work presents the development of an integrated hardware/software sensor system for moving object detection and distance calculation, based on background subtraction algorithm.
The sensor comprises a catadioptric system composed by a camera and a convex mirror that reflects the environment to the camera from all directions, obtaining a panoramic view.
The sensor is used as an omnidirectional vision system, allowing for localization and navigation tasks of mobile robots.
Several image processing operations such as filtering, segmentation and morphology have been included in the processing architecture.
For achieving distance measurement, an algorithm to determine the center of mass of a detected object was implemented.
The overall architecture has been mapped onto a commercial low-cost FPGA device, using a hardware/software co-design approach, which comprises a Nios II embedded microprocessor and specific image processing blocks, which have been implemented in hardware.
The background subtraction algorithm was also used to calibrate the system, allowing for accurate results.
Synthesis results show that the system can achieve a throughput of 26.6 processed frames per second and the performance analysis pointed out that the overall architecture achieves a speedup factor of 13.78 in comparison with a PC-based solution running on the real-time operating system xPC Target.
American Psychological Association (APA)
Mori, Jones Y.& Arias-Garcia, Janier& Sánchez-Ferreira, Camilo& Muñoz, Daniel M.& Llanos, Carlos H.& Motta, J. M. S. T.. 2012. An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots. International Journal of Reconfigurable Computing،Vol. 2012, no. 2012, pp.1-16.
https://search.emarefa.net/detail/BIM-449579
Modern Language Association (MLA)
Mori, Jones Y.…[et al.]. An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots. International Journal of Reconfigurable Computing No. 2012 (2012), pp.1-16.
https://search.emarefa.net/detail/BIM-449579
American Medical Association (AMA)
Mori, Jones Y.& Arias-Garcia, Janier& Sánchez-Ferreira, Camilo& Muñoz, Daniel M.& Llanos, Carlos H.& Motta, J. M. S. T.. An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots. International Journal of Reconfigurable Computing. 2012. Vol. 2012, no. 2012, pp.1-16.
https://search.emarefa.net/detail/BIM-449579
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-449579