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Título : An FPGA-based omnidirectional vision sensor for motion detection on mobile robots
Autor : Silva, Jones Yudi Mori Alves da
Arias Garcia, Janier
Ferreira, Camilo Sánchez
Muñoz, Daniel M.
Llanos Quintero, Carlos Humberto
Assunto:: Redes sensoriais
Fecha de publicación : 2012
Editorial : Hindawi Publishing Corporation
Citación : MORI, Jones Y. et al. An FPGA-based omnidirectional vision sensor for motion detection on mobile robots. International Journal of Reconfigurable Computing, v. 2012, artigo n. 148190, p. 16. Disponível em:<http://www.hindawi.com/journals/ijrc/2012/148190/>. Acesso em: 30 ago. 2012.
Resumen : 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.
Licença:: Copyright © 2012 Jones Y. Mori et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Fonte: http://www.hindawi.com/journals/ijrc/2012/148190/. Acesso em: 30 ago. 2012.
DOI: https://dx.doi.org/10.1155/2012/148190
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