A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance

Chinapirom T, Witkowski U, Rückert U (Eds) (2008) .

Download
No fulltext has been uploaded. References only!
Conference (Editor) | Published | English

No fulltext has been uploaded

Abstract
This paper describes a resource-efficient vision system for the mini-robot ”Khepera”. It is implemented to perform a fundamental approach of robotic navigation, which is obstacle detection by using an optical flow algorithm. This is inspired by visual perception of insects. The optical flow field is evaluated by implementing the sum of absolute differences (SAD) operation of block matching while the mobile mini-robot moves on texture plane. The SAD is realized in an additional processing module based on a Field Programmable Gate Array (FPGA) solution which can perform various tasks in parallel; for example, image processing, camera control and symbolic protocol transmission to the mini-robot. As a result, the Khepera equipped with 2D camera and the additional module is able to autonomously move avoiding collisions with obstacles, called ego-motion. The 30X16 SAD operation is processed by computing 16 pairs of pixels in each operation, which accomplishes the real-time approach. The proposed implementation reduces processing time and power consumption
Publishing Year
PUB-ID

Cite this

Chinapirom T, Witkowski U, Rückert U, eds. A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance.; 2008.
Chinapirom T., Witkowski U., & Rückert U. (Eds.) (2008). A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance.
Chinapirom, T., Witkowski, U., and Rückert, U. eds. (2008). A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance.
T. Chinapirom, U. Witkowski, & U. Rückert, eds., 2008. A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance,
T. Chinapirom, U. Witkowski, and U. Rückert, eds., A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance, 2008.
Chinapirom, T., Witkowski, U., Rückert, U. eds: A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance. (2008).
Teerapat Chinapirom, Ulf Witkowski, and Ulrich Rückert, eds. A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance. 2008.
This data publication is cited in the following publications:
This publication cites the following data publications:

Export

0 Marked Publications

Open Data PUB

Search this title in

Google Scholar