Autonomous Mobile Minirobot With Embedded Cmos Vision System

• doi: 10.1109/IECON.2002.1185355
• title: Autonomous mobile mini-robot with embedded CMOS vision system
• publisher: IEEE
• isbn: 0-7803-7474-6
• issn:
• partnum: 02CH37363
• rank: 1695
• access_type: LOCKED
• content_type: Conferences
• abstract: This paper presents a prototype of a mobile minirobot with an embedded vision system. The robot control is implemented in a low cost microcontroller and the vision system is based in a proprietary CMOS imaging array. The proposed vision sensor has enough flexibility to be incorporated directly to most microcontroller-based systems without any additional electronics. The CMOS camera sensor has random access readout capabilities and the microcontroller uses the camera like a read only external memory. Therefore, the main advantage of this system is that image-processing algorithms can be incorporated directly in a low cost microcontroller, resulting on a compact vision system with decision-making capabilities. The robot autonomous capabilities have been tested in a soccer game scenario where visual tasks such as object localisation and classification are needed.
• article_number: 1185355
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1185355
• html_url: https://ieeexplore.ieee.org/document/1185355/
• abstract_url: https://ieeexplore.ieee.org/document/1185355/
• publication_title: IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02
• conference_location: Seville, Spain
• conference_dates: 5-8 Nov. 2002
• publication_number: 8430
• is_number: 26591
• publication_year: 2002
• publication_date: 5-8 Nov. 2002
• start_page: 2439
• end_page: 2444 vol.3
• citing_paper_count: 8
• citing_patent_count: 0
• download_count: 245
• insert_date: 20030320
• index_terms:
  • ieee_terms:
    • Machine vision
    • CMOS image sensors
    • Microcontrollers
    • Costs
    • Robot vision systems
    • Cameras
    • Prototypes
    • Robot control
    • Sensor systems
    • Decision making
  • dynamic_index_terms:
    • Visual System
    • Image Processing
    • Object Classification
    • Image Sensor
    • Camera Sensor
    • Robot Control
    • Image Processing Algorithms
    • Typical Features
    • Typical Characteristics
    • Classification Algorithms
    • Vertical Line
    • Mean Intensity
    • Image Object
    • Raw Images
    • Analog-to-digital Converter
    • Analog-to-digital
    • Digital-to-analog Converter
    • Simple Algorithm
    • Object Features
    • Objective Characteristics
    • Multiple Objects
    • Part Of The Image
    • Distance Estimation
    • Discharge Capacity
    • Mobile Robot
    • Pixel Width
    • Pixel Distance
    • Distance Of Each Pixel
    • Frame Grabber
    • Object Distance
    • Sum Of Intensities
• isbn_formats:
  • format: Print ISBN, value: 0-7803-7474-6, isbnType: Historical
• authors:
  • Author Name: J. Palacin
    Affiliation: Grup de Robòtica, Universitat de Lleida, Lleida, Spain
    Author URL: https://ieeexplore.ieee.org/author/37271379100
    ID: 37271379100
    Order: 1
    Author Affiliations:
    • Grup de Robòtica, Universitat de Lleida, Lleida, Spain
  • Author Name: A. Sanuy
    Affiliation: Grup de Robòtica, Universitat de Lleida, Lleida, Spain
    Author URL: https://ieeexplore.ieee.org/author/37569032100
    ID: 37569032100
    Order: 2
    Author Affiliations:
    • Grup de Robòtica, Universitat de Lleida, Lleida, Spain
  • Author Name: X. Clua
    Affiliation: Grup de Robòtica, Universitat de Lleida, Lleida, Spain
    Author URL: https://ieeexplore.ieee.org/author/37284265600
    ID: 37284265600
    Order: 3
    Author Affiliations:
    • Grup de Robòtica, Universitat de Lleida, Lleida, Spain
  • Author Name: G. Chapinal
    Affiliation: Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
    Author URL: https://ieeexplore.ieee.org/author/37330634500
    ID: 37330634500
    Order: 4
    Author Affiliations:
    • Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
  • Author Name: S. Bota
    Affiliation: Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
    Author URL: https://ieeexplore.ieee.org/author/37062462500
    ID: 37062462500
    Order: 5
    Author Affiliations:
    • Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
  • Author Name: M. Moreno
    Affiliation: Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
    Author URL: https://ieeexplore.ieee.org/author/37329180700
    ID: 37329180700
    Order: 6
    Author Affiliations:
    • Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
  • Author Name: A. Herms
    Affiliation: Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain
    Author URL: https://ieeexplore.ieee.org/author/37330635500
    ID: 37330635500
    Order: 7
    Author Affiliations:
    • Departament d'Electrònica, Universitat de Barcelona, Barcelona, Spain

Image Sensor

• sensor_type: CMOS
• resolution: 128x128 pixels
• dynamic_range: Not specified
• pixel_size: Not specified
• dark_current: Not specified

Optical Data

• focal_length: Not specified
• aperture: Not specified
• field_of_view: Not specified
• distortion: Not specified

Performance Metrics

• power_consumption: 36 mA for system; individual motors maximum of 60 mA each

Applications & Benefits

• cell_imaging: Not specified
• benefits: Low-cost integrated imaging system enabling decision-making capabilities in robotics.

Supporting Organizations

• supported_by: Spanish CICYT project TIC99-0485

Manuscript Details

• publication_date: 5-8 Nov. 2002

Relevancy Score

• score: 8
• missing_fields:
  • dynamic_range
  • pixel_size
  • dark_current
  • focal_length
  • aperture
  • field_of_view
  • distortion
  • frame_rate
  • signal_to_noise_ratio
  • sensitivity
  • shutter_speed
  • noise

Processed JSON Filename

request_cb2bdc54-7423-41e5-bf61-79302120416d-autonomous_mobile_minirobot_with_embedded_cmos_vision_system.json