Towards MiroSot Robots with FPGA- and DSP-based Image Processing On-Board
نویسنده
چکیده
Fast self-location and collision-free navigation is a crucial pre-requisite for autonomous robots in real-world environments. Usually robots are equipped with a variety of sensors, but for obvious reasons vision systems are by far the most informative and reliable source for object location and path planning. In this paper, we present a new DSPand FPGA-based image processing system for FIRA MiroSot robots endowed with 4 local VGA cameras. The use of FPGAs to link and pre-process camera data allows an enormous flexibility with regard to the number and type of cameras used. This kind of miniaturization for a processing system, as well as the low cost of components, can open new applications for image processing systems.
منابع مشابه
FPGA Implementation of JPEG and JPEG2000-Based Dynamic Partial Reconfiguration on SOC for Remote Sensing Satellite On-Board Processing
This paper presents the design procedure and implementation results of a proposed hardware which performs different satellite Image compressions using FPGA Xilinx board. First, the method is described and then VHDL code is written and synthesized by ISE software of Xilinx Company. The results show that it is easy and useful to design, develop and implement the hardware image compressor using ne...
متن کاملDesign and Implementation of Digital Demodulator for Frequency Modulated CW Radar (RESEARCH NOTE)
Radar Signal Processing has been an interesting area of research for realization of programmable digital signal processor using VLSI design techniques. Digital Signal Processing (DSP) algorithms have been an integral design methodology for implementation of high speed application specific real-time systems especially for high resolution radar. CORDIC algorithm, in recent times, is turned out to...
متن کاملImage Fusion Real-time System Based on FPGA and Multi-DSP
In order to solve complex algorithm that is difficult to achieve real-time processing of Multiband image fusion within large amount of data, a real-time image fusion system based on FPGA and multi-DSP is designed. Five-band image acquisition, image registration, image fusion and display output can be done within the system which uses FPGA as the main processor and the other three DSP as an algo...
متن کاملCooperative Multi-Agent Robotic Systems: From the Robot-soccer Perspective
With the ever increase in the number of robots in an industrial environment, scientists/technologists were often faced with issues on cooperation and coordination among diierent robots and their self governance in a work space. This has led to the developments in multi-robot cooperative autonomous systems. The proponents of multi-robot autonomous systems needed a model to test the theories bein...
متن کاملFPGA-based Architectures for Image Processing using High-Level Design
This paper presents the design and implementation of image processing applications on field programmable gate array (FPGA). To improve the implementation time, Xilinx AccelDSP, a software for generating hardware description language (HDL) from a high-level MATLAB description has been used. Two FPGA-based architectures for image processing have been proposed: Color Space Conversion and Edge Dete...
متن کامل