Cmosfpga Vision System For Visual Feedback Of Mechanical Systems

• doi: 10.1109/ROBOT.2006.1642008
• title: CMOS+FPGA vision system for visual feedback of mechanical systems
• publisher: IEEE
• isbn: 0-7803-9505-0
• issn: 1050-4729
• rank: 1871
• access_type: LOCKED
• content_type: Conferences
• abstract: This paper describes a 1,000 Hz visual feedback using the CMOS+FPGA vision. It is required to obtain positional and angular signals around 1,000 Hz to control a mechanical system. A vision sensor must obtain visual features of a target object, synchronizing its sampling rate to the sampling rate of the control. Thus, we need 1) image capturing over 1,000 Hz with high resolution, 2) visual feature computation at the capturing rate, and 3) visual feature transmission to a control system with little delay. We propose the CMOS+FPGA vision system to realize 1,000 Hz visual feedback. This system consists of a CMOS image detector to capture images at 1,000 Hz and an FPGA to compute image features at this sampling rate. First we introduce the CMOS+FPGA vision system. Second, we show the implementation of the computation of the image gravity center. Then, we show the implementation of matched filter. Finally, we apply the image gravity center circuit to the visual control of a flexible link
• article_number: 1642008
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1642008
• html_url: https://ieeexplore.ieee.org/document/1642008/
• abstract_url: https://ieeexplore.ieee.org/document/1642008/
• publication_title: Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
• conference_location: Orlando, FL, USA
• conference_dates: 15-19 May 2006
• publication_number: 10932
• is_number: 34383
• publication_year: 2006
• publication_date: 15-19 May 2006
• start_page: 2060
• end_page: 2065
• citing_paper_count: 14
• citing_patent_count: 2
• download_count: 219
• insert_date: 20060626
• index_terms:
  • ieee_terms:
    • Machine vision
    • Feedback
    • Mechanical systems
    • Image sampling
    • Control systems
    • Gravity
    • Mechanical sensors
    • Sensor phenomena and characterization
    • Image resolution
    • Signal resolution
  • dynamic_index_terms:
    • Visual System
    • Visual Feedback
    • Video Feedback
    • Sampling Rate
    • Image Features
    • Imaging Characteristics
    • Visual Features
    • Visual Characteristics
    • Detection In Images
    • Flexible Linker
    • Vision Sensors
    • Fourier Transform
    • Computation Time
    • Calculation Time
    • Optimal Control
    • Control Law
    • Input Image
    • Image Pixels
    • Angular Velocity
    • Rotational Velocity
    • Correlation Function
    • Correlation Length
    • Localization Performance
    • Positive Performance
    • Local Operators
    • Reference Image
    • Base Point
    • Global Operations
    • Digital Circuits
    • Digital Circuitry
    • Analog Circuits
    • Tip Angle
    • Maximum Value Of Function
    • Hough Transform
    • Hough Space
    • Constant Angular Velocity
    • Base Angle
    • Link Parameters
    • Tipping Point
• isbn_formats:
  • format: Print ISBN, value: 0-7803-9505-0, isbnType: Historical
• authors:
  • Author Name: K. Shimizu
    Affiliation: Department Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan
    Author URL: https://ieeexplore.ieee.org/author/37693220800
    ID: 37693220800
    Order: 1
    Author Affiliations:
    • Department Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan
  • Author Name: S. Hirai
    Affiliation: Department Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan
    Author URL: https://ieeexplore.ieee.org/author/37280572900
    ID: 37280572900
    Order: 2
    Author Affiliations:
    • Department Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan

Image Sensor

• sensor_type: CMOS
• resolution: 1280x504
• 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

• frame_rate: 1000 fps
• shutter_speed: 0.1 ms for 600 rpm and 0.03 ms for 12000 rpm

Applications & Benefits

• cell_imaging: not specified
• benefits: Supports high-speed visual feedback for mechanical systems, enabling synchronization with control signals.

Supporting Organizations

• supported_by: Ritsumeikan University 21st Century COE program ‘Micro Nanoscience Integrated Systems’

Manuscript Details

• publication_date: 15-19 May 2006

Relevancy Score

• score: 10
• missing_fields:
  • fill factor
  • quantum efficiency
  • readout speed
  • temporal noise
  • fixed-pattern noise
  • analog-to-digital conversion techniques
  • microlenses
  • on-chip colour filters
  • global or rolling shutters
  • backside illumination

Processed JSON Filename

request_1214d766-ad4d-4417-bfdb-f51ae1795d54-cmosfpga_vision_system_for_visual_feedback_of_mechanical_systems.json