Low latency 2D position estimation with a line scan camera for visual servoing

Authors:
Peter Briër;Maarten Steinbuch;Pieter Jonker
Affiliations:
Department of Mechanical Engineering, Section Dynamics and Control Technology, Technical University Eindhoven, Eindhoven, The Netherlands and OTB Group B.V., Eindhoven, The Netherlands;Department of Mechanical Engineering, Section Dynamics and Control Technology, Technical University Eindhoven, Eindhoven, The Netherlands;Department of Mechanical Engineering, Section Dynamics and Control Technology, Technical University Eindhoven, Eindhoven, The Netherlands
Venue:
ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
Year:
2007

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Abstract

This paper describes the implementation of a visual position estimation algorithm, using a line-scan sensor positioned at an angle over a 2D repetitive pattern. An FFT is used with direct interpretation of the phase information at the fundamental frequencies of the pattern. The algorithm is implemented in a FPGA. The goal is to provide fast position estimation on visual data, to be used as feedback information in a dynamic control system. Traditional implementations of these systems are often hampered by low update rates (10 msec). These limit the obtainable bandwidths of the control system. Presented here is an implementation of an algorithm with a high update rate (30kHz) and low latency (100 µsec). This system can be used for a range of repetitive structures and has a high robustness. Resolutions of less than 0.1 µm have been demonstrated on real products with 210×70 µm feature size.