Realtime And Robust Motion Tracking By Matched Filter On Cmosfpga Vision System

• doi: 10.1109/ROBOT.2007.363082
• title: Realtime and Robust Motion Tracking by Matched Filter on CMOS+FPGA Vision System
• publisher: IEEE
• isbn: 1-4244-0601-3
• issn: 1050-4729
• partnum: 07CH37836
• rank: 3419
• access_type: LOCKED
• content_type: Conferences
• abstract: This paper describes realtime and robust tracking of a planar motion target by matched filter implemented on the CMOS+FPGA vision system. 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. The CMOS+FPGA vision system has been proposed to realize 1,000 Hz visual feedback. Matched filter can compute the position of a target robustly against occlusion, change of illumination, and background texture but requires much computation time since it includes 2D Fourier transform of images. Thus, matched filter algorithm is implemented on the system so that the matched filter can be performed in realtime. First we briefly introduce the CMOS+FPGA vision system. Second, we summarize the algorithm of matched filter to describe the design of the circuit performing matched filter on an FPGA. Finally, we show the experimental results of planar motion tracking by matched filter implemented on the system.
• article_number: 4209186
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4209186
• html_url: https://ieeexplore.ieee.org/document/4209186/
• abstract_url: https://ieeexplore.ieee.org/document/4209186/
• publication_title: Proceedings 2007 IEEE International Conference on Robotics and Automation
• conference_location: Rome, Italy
• conference_dates: 10-14 April 2007
• publication_number: 4209048
• is_number: 4209049
• publication_year: 2007
• publication_date: 10-14 April 2007
• start_page: 788
• end_page: 793
• citing_paper_count: 2
• citing_patent_count: 0
• download_count: 254
• insert_date: 20070521
• index_terms:
  • ieee_terms:
    • Robustness
    • Matched filters
    • Machine vision
    • Target tracking
    • Control systems
    • Mechanical systems
    • Mechanical sensors
    • Sensor phenomena and characterization
    • Sampling methods
    • Image sampling
  • dynamic_index_terms:
    • Visual System
    • Matched Filter
    • Robust Motion Tracking
    • Fourier Transform
    • Computation Time
    • Calculation Time
    • Sampling Rate
    • Visual Features
    • Visual Characteristics
    • Visual Feedback
    • Video Feedback
    • Circuit Design
    • Target Tracking
    • Illumination Changes
    • Tracking Results
    • Vision Sensors
    • Target Plane
    • Background Texture
    • Image Features
    • Imaging Characteristics
    • Input Image
    • Correlation Function
    • Correlation Length
    • Localization Performance
    • Positive Performance
    • Local Operators
    • Analog Circuits
    • Reference Image
    • Maximum Value Of Function
    • Digital Circuits
    • Digital Circuitry
    • Successive Images
    • Hough Transform
    • Hough Space
    • Global Operations
    • Detection In Images
    • High Parallelism
    • Individual Modules
• isbn_formats:
  • format: Print ISBN, value: 1-4244-0601-3, isbnType: Historical
  • format: CD, value: 1-4244-0602-1, isbnType: Historical
• authors:
  • Author Name: Kazuhiro Shimizu
    Affiliation: Graduate School of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan
    Author URL: https://ieeexplore.ieee.org/author/37693220800
    ID: 37693220800
    Order: 1
    Author Affiliations:
    • Graduate School of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan
  • Author Name: Shinichi Hirai
    Affiliation: Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan
    Author URL: https://ieeexplore.ieee.org/author/37280572900
    ID: 37280572900
    Order: 2
    Author Affiliations:
    • Department of Robotics, Ritsumeikan University, Kusatsu, Shiga, Japan

Image Sensor

• sensor_type: CMOS
• resolution: 1280×504 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

• frame_rate: 1000 fps

Applications & Benefits

• cell_imaging: Not specified
• benefits: Digital imaging in various applications including smartphones and medical devices.

Supporting Organizations

• supported_by: Ritsumeikan University 21st Century COE program "Micro Nanoscience Integrated Systems"; Image Technology Laboratory Corporation.

Manuscript Details

• publication_date: 10-14 April 2007

Relevancy Score

• score: 10
• missing_fields:
  • dynamic_range
  • pixel_size
  • dark_current
  • focal_length
  • aperture
  • field_of_view
  • distortion
  • signal_to_noise_ratio
  • sensitivity
  • shutter_speed
  • power_consumption
  • noise
  • cell_imaging
  • benefits

Processed JSON Filename

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