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

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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.

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