Integrating Region Growing and Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
X Vision: a portable substrate for real-time vision applications
Computer Vision and Image Understanding
Real-time 3D ball trajectory estimation for RoboCup middle size league using a single camera
Robot Soccer World Cup XV
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This paper propose a real-time vision framework for mobile robotics and describes the current implementation. The pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical autonomous systems applications. A characterization of the implemented system in the Robocup scenario, during competition matches, is presented.