A monitoring network based on embedded vision nodes suitable for robotic systems

  • Authors:

  • Jile Jiao;Shuguang Ye;Zhiqiang Cao;Yuequan Yang;Xilong Liu;Min Tan

  • Affiliations:

  • State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China;JiangSu King Source Electric Co., Ltd., Jiangsu, China;State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China;College of Information Engineering, Yangzhou University, Yangzhou, China;State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China;State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China

  • Venue:
  • ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
  • Year:
  • 2012

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Abstract

A visual monitoring network suitable for robotic systems is presented in this paper. The monitoring network is composed of embedded vision nodes. By interacting with an upper computer as well as the robotic system, the monitoring network provides an important supplement, which may accelerate the task execution. Each embedded vision node captures and processes images independently, and it is easy to install with compact size. The vision node contains a S3C2440 processor as the main processing module, a CMOS camera as the image capturing module and a zigbee module for wireless communication. The detection based on frame difference or color feature is used to determine the mass center of moving object. On this basis, the object information from one vision node may also be sent to another one for stereo vision localization with stereo vision model and least square method. Application examples are demonstrated to testify the monitoring network.