Introduction to Autonomous Mobile Robots
Introduction to Autonomous Mobile Robots
Instantaneous robot self-localization and motion estimation with omnidirectional vision
Robotics and Autonomous Systems
Parameterizable floating-point library for arithmetic operations in FPGAs
Proceedings of the 22nd Annual Symposium on Integrated Circuits and System Design: Chip on the Dunes
Real-Time FPGA-Based Panoramic Unrolling of High-Resolution Catadioptric Omnidirectional Images
ICMTMA '09 Proceedings of the 2009 International Conference on Measuring Technology and Mechatronics Automation - Volume 01
Solving the online SLAM problem with an omnidirectional vision system
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
An FPGA-based omnidirectional vision sensor for motion detection on mobile robots
International Journal of Reconfigurable Computing - Special issue on Selected Papers from the Symposium on Integrated Circuits and Systems Design (SBCCI 2011)
EVA: an efficient vision architecture for mobile systems
Proceedings of the 2013 International Conference on Compilers, Architectures and Synthesis for Embedded Systems
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Omnidirectional vision systems have been used for mobile robots localization and navigation, taking advantage of a panoramic view for detecting objects. This paper presents a pipelined hardware architecture for image processing using a low cost omnidirectional vision system, which was calibrated using a three-order polynomial interpolation. An Altera Cyclone II FPGA device was used for implementing the hardware architectures, which have been described in both VHDL and Verilog hardware description languages. The entire system is composed of a spherical mirror, an 800x480 pixels camera connected to the FPGA, a spatial convolution filter for edge enhancement, a hardware architecture for estimating the distance of real objects and a touch screen display as user interface. Synthesis results point out that the image processing algorithms are effectively implemented in hardware whereas test results demonstrate that the proposed hardware architectures in FPGAs are suitable for mobile robot applications in which the distance among objects or other robots must be computed. Execution time results demonstrate that the proposed hardware architecture achieves a speed-up factor of 61 in comparison with a desktop software solution based on a xPC Target real time operating system.