FPGA-based embedded visual servoing platform for quick response visual servoing

Jwu-Sheng Hu, Nelson Yen Chung Chang*, Jwu Jiun Yang, Jyun Ji Wang, Rodolfo Gondim Lossio, Ming Chih Chien, Yung Jung Chang, Chen Yu Kai, Shyh Haur Su

*Corresponding author for this work

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

7 Scopus citations

Abstract

The response speed of visual servoing depends on the computation platform's data transfer and computation capability. In this work, we proposed an embedded FPGA-based visual servoing platform (VSP) to meet the requirements on data transfer and computation capability for quick response visual servoing tasks. To address the data transfer capability issue, we adopted coprocessor-like system architecture, which provided direct connections between vision processing IPs and peripheral modules. To address the computation capability issue, we exploit as much parallelism within vision processing algorithms as possible to ensure high visual information update frequency. Two visual servoing tasks that required quick response, a ball catching and a high speed target shooting tasks, were chosen to verify the applicability and effectiveness of the VSP. In the ball catching case, we achieved 85% catch success rate and 58Hz visual update frequency. In the high speed target shooting case, we achieved 91% average hit rate and 402 Hz visual update frequency.

Original languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages263-268
Number of pages6
StatePublished - 29 Aug 2011
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 15 May 201118 May 2011

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period15/05/1118/05/11

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