A Biologically-Inspired and Resource-Efficient Vision System using Mobile Mini-Robots for Obstacle Avoidance
Chinapirom T, Witkowski U, Rückert U (Eds) (2008) .
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| Veröffentlicht | Englisch
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Herausgeber*in
Chinapirom, TeerapatUniBi;
Witkowski, Ulf;
Rückert, UlrichUniBi
Abstract / Bemerkung
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
Erscheinungsjahr
2008
Page URI
https://pub.uni-bielefeld.de/record/2289231
Zitieren
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, Teerapat, Witkowski, Ulf, and Rückert, Ulrich, 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.