High-speed motion measurement and crash detection in tracking device for floor image

Isaku Nagai; Yutaka Tanaka

doi:10.1299/kikaic.71.3159

High-speed motion measurement and crash detection in tracking device for floor image

Isaku Nagai, Yutaka Tanaka

Research output: Contribution to journal › Review article › peer-review

1 Citation (Scopus)

Abstract

This paper describes visual tracking device progressed to measure faster motion of a camera perpendicularly directed to floor. In the device, motion prediction based on extrapolation of the velocity vector is employed and extends the maximum speed of motion from about 45 mm/s to 200 mm/s with no increase of search time in the correlation process. Moreover crash detection is brought to this method as a side effect of motion prediction by detecting the change of differential correlation. The device consisted of a FPGA and two SRAMs can process image tracking at frame rate, so this device is useful for localization of mobile robots.

Original language	English
Pages (from-to)	3159-3166
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	71
Issue number	11
DOIs	https://doi.org/10.1299/kikaic.71.3159
Publication status	Published - Nov 2005

Keywords

Floor Image
Frame Rate Vision
Image Processing
Measurement
Mobile Robot
Motion Prediction

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.71.3159

Cite this

@article{70f3172b64c84a47b7ef1ddc76b6d121,

title = "High-speed motion measurement and crash detection in tracking device for floor image",

abstract = "This paper describes visual tracking device progressed to measure faster motion of a camera perpendicularly directed to floor. In the device, motion prediction based on extrapolation of the velocity vector is employed and extends the maximum speed of motion from about 45 mm/s to 200 mm/s with no increase of search time in the correlation process. Moreover crash detection is brought to this method as a side effect of motion prediction by detecting the change of differential correlation. The device consisted of a FPGA and two SRAMs can process image tracking at frame rate, so this device is useful for localization of mobile robots.",

keywords = "Floor Image, Frame Rate Vision, Image Processing, Measurement, Mobile Robot, Motion Prediction",

author = "Isaku Nagai and Yutaka Tanaka",

year = "2005",

month = nov,

doi = "10.1299/kikaic.71.3159",

language = "English",

volume = "71",

pages = "3159--3166",

journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "11",

}

TY - JOUR

T1 - High-speed motion measurement and crash detection in tracking device for floor image

AU - Nagai, Isaku

AU - Tanaka, Yutaka

PY - 2005/11

Y1 - 2005/11

N2 - This paper describes visual tracking device progressed to measure faster motion of a camera perpendicularly directed to floor. In the device, motion prediction based on extrapolation of the velocity vector is employed and extends the maximum speed of motion from about 45 mm/s to 200 mm/s with no increase of search time in the correlation process. Moreover crash detection is brought to this method as a side effect of motion prediction by detecting the change of differential correlation. The device consisted of a FPGA and two SRAMs can process image tracking at frame rate, so this device is useful for localization of mobile robots.

AB - This paper describes visual tracking device progressed to measure faster motion of a camera perpendicularly directed to floor. In the device, motion prediction based on extrapolation of the velocity vector is employed and extends the maximum speed of motion from about 45 mm/s to 200 mm/s with no increase of search time in the correlation process. Moreover crash detection is brought to this method as a side effect of motion prediction by detecting the change of differential correlation. The device consisted of a FPGA and two SRAMs can process image tracking at frame rate, so this device is useful for localization of mobile robots.

KW - Floor Image

KW - Frame Rate Vision

KW - Image Processing

KW - Measurement

KW - Mobile Robot

KW - Motion Prediction

UR - http://www.scopus.com/inward/record.url?scp=33244497364&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33244497364&partnerID=8YFLogxK

U2 - 10.1299/kikaic.71.3159

DO - 10.1299/kikaic.71.3159

M3 - Review article

AN - SCOPUS:33244497364

VL - 71

SP - 3159

EP - 3166

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 11

ER -

High-speed motion measurement and crash detection in tracking device for floor image

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this