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An embedded vision-based tracking system for autonomous robot navigation

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In this paper, a prototype of an autonomous vehicle with an FPGA based computing system is described. It uses an ultrasonic sensor and a camera as sources of information about the surrounding environment. The vehicle is able to track an object selected by the operator (it does not need to be defined a-priori). In the proposed solution, the mean-shift algorithm is used. It has been adapted to operate in a pipeline, real-time vision system. The control unit is built of two PD controllers which determine the PWM ratio for the left and right DC drive. The whole system has been implemented on the Atlys development board with Spartan 6 FPGA device from Xilinx.
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Bibliogr. 6 poz., schem., tab., wzory
  • AGH Univeristy of Science and Technology, 30 Mickiewicza Ave., 30-059 Kraków
  • AGH Univeristy of Science and Technology, 30 Mickiewicza Ave., 30-059 Kraków
  • [1] Comaniciu D., Ramesh V., Meer P.: Real-time Tracking of Non-rigid Objects Using Mean Shift. Proc. IEEE Conference on Computer Vision and Pattern Recognition, Vol. 2, p. 142-149, 2000.
  • [2] Lu X., Ren D., Yu S.: FPGA-based real-time object tracking for mobile robot. International Conference on Audio Language and Image Processing (ICALIP), Shanghai, pp. 1657-1662, 2010.
  • [3] Ali U., Malik M. B., Munawar, K.: FPGA/soft-processor based real-time object tracking system. 5th Southern Conference on Programmable Logic, SPL, Sao Carlos, pp. 33-37, 2009.
  • [4] Ali U., Malik M. B.: Hardware/Software Co-design of a Real-time Kernel Based Tracking System. Journal of System Architecture, vol. 56, no. 8, pp 317-326, 2010.
  • [5] Norouznezhad E., Bigdeli A., Postula A., Lovell B. C.: Robust object tracking using local oriented energy features and its hardware/software implementation. 11th International Conference on Control Automation Robotics & Vision (ICARCV), Singapore, pp. 2060-2066, 2010.
  • [6] DFROBOT, product &product_id=97#.VpWR0PnhA2w, (last access 29.03.2016)
The work presented in this paper was supported by AGH University of Science and Technology project for young scientists and doctoral students financed by the Dean of EAUIB Faculty for year 2016
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