An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots
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 th...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | International Journal of Reconfigurable Computing |
| Online Access: | http://dx.doi.org/10.1155/2012/148190 |
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| author | Jones Y. Mori Janier Arias-Garcia Camilo Sánchez-Ferreira Daniel M. Muñoz Carlos H. Llanos J. M. S. T. Motta |
| author_facet | Jones Y. Mori Janier Arias-Garcia Camilo Sánchez-Ferreira Daniel M. Muñoz Carlos H. Llanos J. M. S. T. Motta |
| author_sort | Jones Y. Mori |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-2edc39c6d92541dd8033735b82922f7c |
| institution | Kabale University |
| issn | 1687-7195 1687-7209 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Reconfigurable Computing |
| spelling | doaj-art-2edc39c6d92541dd8033735b82922f7c2025-02-03T06:11:11ZengWileyInternational Journal of Reconfigurable Computing1687-71951687-72092012-01-01201210.1155/2012/148190148190An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile RobotsJones Y. Mori0Janier Arias-Garcia1Camilo Sánchez-Ferreira2Daniel M. Muñoz3Carlos H. Llanos4J. M. S. T. Motta5Faculty of Technology, University of Brasilia, 70910-900 Brasilia, DF, BrazilFaculty of Technology, University of Brasilia, 70910-900 Brasilia, DF, BrazilFaculty of Technology, University of Brasilia, 70910-900 Brasilia, DF, BrazilFaculty of Gama, University of Brasilia, 72405-610 Brasilia, DF, BrazilFaculty of Technology, University of Brasilia, 70910-900 Brasilia, DF, BrazilFaculty of Technology, University of Brasilia, 70910-900 Brasilia, DF, BrazilThis 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.http://dx.doi.org/10.1155/2012/148190 |
| spellingShingle | Jones Y. Mori Janier Arias-Garcia Camilo Sánchez-Ferreira Daniel M. Muñoz Carlos H. Llanos J. M. S. T. Motta An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots International Journal of Reconfigurable Computing |
| title | An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots |
| title_full | An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots |
| title_fullStr | An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots |
| title_full_unstemmed | An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots |
| title_short | An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots |
| title_sort | fpga based omnidirectional vision sensor for motion detection on mobile robots |
| url | http://dx.doi.org/10.1155/2012/148190 |
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