Development of Adaptive Image Processing based on FPGA for Real-time Robot Vision System
Hayato Hagiwara, Kenichi Asami, Mochimitsu Komori · 2013
This paper presents a real-time image processing system for a mobile service robot using evolutionary computation on FPGA. The digital image processing acquired by a CMOS image sensor is performed on the embedded FPGA board and Linux-based real-time video communication module. The image processing and evolutionary computation are implemented into a reconfigurable device as original logic. The image processing circuit captures digital images from CMOS camera, extracts the edge and feature points in the images for self-localization to adjust the current course on the traveling map data. Additionally, this image processing application enables the robot vision system to turn the visual field to the target direction where the object is recognized by a specific color. The genetic algorithm optimizes threshold values for the filtering operations according to various lighting environments. The integrated robot vision system aims to achieve a suitable platform available from both hardware and software.