Embedded CMOS imaging system for real-time robotic vision

Henrry Andrian*, Kai-Tai Song

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

This paper presents a real-time robotic vision system that provides visual information for a control scheme of mobile manipulation. The hardware implementation consists of a CMOS image board and a TI DSP board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation proposes a visual servoing using a behavior-based approach to solving the mobile manipulator control problem. The description of the hardware and software implementation is given and experimental results are discussed.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3694-3699
Number of pages6
DOIs
StatePublished - 1 Dec 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2 Aug 20056 Aug 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period2/08/056/08/05

Keywords

  • CMOS image board
  • Embedded platform
  • Mobile manipulator
  • Optical flow
  • Visual servoing

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