| 1. |
- Ahlberg, Carl, et al.
(författare)
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GIMME - A General Image Multiview Manipulation Engine
- 2011
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Ingår i: Proceedings of the International Conference on ReConFigurable Computing and FPGAs (ReConFig 2011). - Los Alamitos, Calif : IEEE Computer Society. - 9780769545516
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Konferensbidrag (refereegranskat)abstract
- This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable stand-alone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level image-processing at video rate. The Qseven-extension enables additional processing power. Thanks to its compact design, low power consumption and standardized interfaces (power and communication), GIMME is an ideal vision platform for autonomous and mobile robot applications.
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| 2. |
- Akan, Batu, et al.
(författare)
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Towards Robust Human Robot Collaboration in Industrial Environments
- 2010
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Ingår i: 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010. - New York, New York, USA : ACM Press. - 9781424448937 ; , s. 71-72
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Konferensbidrag (refereegranskat)abstract
- In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene. We used semantic networks to relate different types of objects in the scene
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| 3. |
- Ekstrand, Fredrik, et al.
(författare)
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Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
- 2011
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Ingår i: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications. - 9781457703287 ; , s. 465-469
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a limited implementation of areabasedstereo matching for minimal resource utilization. It shows that it is possible to achieve an acceptable disparity map without the use of expensive resources. The matching accuracy for the single-row SAD can even outperform that of its full-row counterpart. Additionally, it excels in terms of frame rate and resource utilization, and is highly suitable for real-time stereo-vision systems.
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| 4. |
- Ekstrand, Fredrik, et al.
(författare)
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Towards an Embedded Real-Time High Resolution Vision System
- 2014
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Ingår i: ADVANCES IN VISUAL COMPUTING (ISVC 2014), PT II. - : SPRINGER-VERLAG BERLIN. - 9783319143644 ; , s. 541-550
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an approach to image processing for high performance vision systems. Focus is on achieving a scalable method for real-time disparity estimation which can support high resolution images and large disparity ranges. The presented implementation is a non-local matching approach building on the innate qualities of the processing platform which, through utilization of a heterogeneous system, combines low-complexity approaches into performing a high-complexity task. The complementary platform composition allows for the FPGA to reduce the amount of data to the CPU while at the same time promoting the available informational content, thus both reducing the workload as well as raising the level of abstraction. Together with the low resource utilization, this allows for the approach to be designed to support advanced functionality in order to qualify as part of unified image processing in an embedded system.
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| 5. |
- Ekstrand, Fredrik, et al.
(författare)
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Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
- 2012
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Ingår i: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2. - 9789898565044 ; , s. 415-418
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents a set of approaches for increasing the accuracy of basic area-based stereo matching methods. It is targeting real-time FPGA systems for dense disparity map estimation. The methods are focused on low resource usage and maximized improvement per cost unit to enable the inclusion of an autonomous system in an FPGA. The approach performs on par with other area-matching implementations, but at substantially lower resource usage. Additionally, the solution removes the requirement for external memory for reconfigurable hardware together with the limitation in image size accompanying standard methods. As a fully piped complete on-chip solution, it is highly suitable for real-time stereo-vision systems, with a frame rate over 100 fps for Megapixel images.
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| 6. |
- Khalilzad, Nima, et al.
(författare)
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Bandwidth Adaptation in Hierarchical Scheduling Using Fuzzy Controllers
- 2012
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Ingår i: 7th IEEE International Symposium on Industrial Embedded Systems, SIES 2012 - Conference Proceedings. - : IEEE Press. - 9781467326841 ; , s. 148-157
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Konferensbidrag (refereegranskat)abstract
- In our previous work, we have introduced an adaptive hierarchical scheduling framework as a solution for composing dynamic real-time systems, i.e., systems where the CPU demand of their tasks are subjected to unknown and potentially drastic changes during run-time. The framework uses the PI controller which periodically adapts the system to the current load situation. The conventional PI controller despite simplicity and low CPU overhead, provides acceptable performance. However, increasing the pressure on the controller e.g, with an application consisting of multiple tasks with drastically oscillating execution times, degrades the performance of the PI controller. Therefore, in this paper we modify the structure of our adaptive framework by replacing the PI controller with a fuzzy controller to achieve better performance. Furthermore, we conduct a simulation based case study in which we compose dynamic tasks such as video decoder tasks with a set of static tasks into a single system, and we show that the new fuzzy controller outperforms our previous PI controller.
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| 7. |
- Lidholm, Jörgen
(författare)
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Stereo vision algorithms in reconfigurable hardware for robotics applications
- 2011
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis presents image processing solutions in FPGA based embedded vision systems. Image processing is a demanding process but the information that can be extracted from images is very useful and can be used for many tasks like mapping and navigation, object detection and recognition, collision detection and more. Image processing or analysis involves reading images from a camera system, improve an image with respect to colour fidelity and white balance, removing distortion, extracting salient information. The mentioned steps are often referred to as low to medium level image processing and involve large amounts of data and fairly simple algorithms suitable for parallel processing. Medium to high level processing involves a reduced amount of data and more complex algorithms. Object recognition which involves matching image features to information stored in a database is of higher complexity. A vision system can be used in anything from a car to industry processes to mobile robots playing soccer or assisting people in their homes. A vision system often works with video streams that are processed to find pieces that can be handled in an industry process, detect obstacles that may be potential hazards in traffic or to find and track landmarks in the environment that can be used to build and navigate from. This involves large amount of calculations and this is a problem, even though modern computers are fast they may still not be able to execute the desired algorithms with the frequency wanted. Even if there are computers that are fast enough they are bulky and require a lot of power. They are not suitable for incorporating on small mobile robots. In this thesis I will present the image processing sequence to give an understanding of the complexity of the processes involved and I will discuss some processing platforms suitable for image processing. I will also present my work that is focused on image algorithm implementations for reconfigurable hardware suitable for mobile robots with requirements on speed an power consumption.
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| 8. |
- Reddy Vemula, Bhanoday, et al.
(författare)
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Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
- 2013
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Ingår i: 16th International Conference on Advanced Robotics ICAR 2013. ; , s. Article number 6766460-
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Konferensbidrag (refereegranskat)abstract
- In this study, serial and parallelogram linkage structures are evaluated and compared, on the basis of kinematic performance measures such as workspace and manipulability. Tradeoff relationships between workspace manipulability are established for both the structures, using the configuration of the arm lengths as a design variable. The structures are also analyzed on the basis of their manipulation ability in specific regions of their workspace, providing additional design criteria during the selection of the kinematic structure in the synthesis of industrial articulated robots.
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| 9. |
- Spampinato, Giacomo, et al.
(författare)
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An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping
- 2011
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Ingår i: Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011. - New York : IEEE Press. - 9781612844558 ; , s. 1626-1631
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Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.
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| 10. |
- Spampinato, Giacomo, et al.
(författare)
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An embedded stereo vision module for industrial vehicles automation
- 2013
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Ingår i: Proceedings of the IEEE International Conference on Industrial Technology. - : IEEE. - 9781467345699 ; , s. 52-57
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Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used. © 2013 IEEE.
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| 11. |
- Spampinato, Giacomo, et al.
(författare)
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Navigation in a box : Stereovision for industry automation
- 2010
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Ingår i: Advances in Theory and Applications of Stereo Vision. - : InTech. - 9789533075167
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- The research presented addresses the emerging topic of AGVs (Automated Guided Vehicles) specifically related to industrial sites. The work presented has been carried out in the frame of the MALTA project (Multiple Autonomous forklifts for Loading and Transportation Applications), a joint research project between industry and university, funded by the European Regional Development and Robotdalen, in partnership with theSwedish Knowledge Foundation. The project objective is to create fully autonomous forklift trucks for paper reel handling. The result is expected to be of general benefit for industries that use forklift trucks in their material handling through higher operating efficiency and better flexibility with reduced risk for accidents and handling damages than if only manual forklift trucks are used. A brief overview of the state of the art in AGVs will be reported in order to better understand the new challenges and technologies. Among the emerging technologies used for vehicle automation, vision is one of the most promising in terms of versatility and efficiency, with a high potential to drastically reduce the costs.
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| 12. |
- Vemula, Bhanoday Reddy, et al.
(författare)
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Stiffness based global indices for structural evaluation of anthropomorphic manipulators
- 2014
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Ingår i: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014. - 9783800736010 ; , s. 708-715
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Konferensbidrag (refereegranskat)abstract
- Knowledge based on experience and rules of thumb is often used during the concept selection phase of robot design since it could be extremely time consuming to perform the complete robot design process on all the possible structural alternatives. This article proposes an efficient procedure to perform structural evaluation of anthropomorphic manipulators with and without parallel transmission linkages for applicability in new generations of light weight and cost effective industrial robots. In this study the structural evaluation is performed based on the static elasticity behaviour of the two manipulator structures with emphasis on improving the structural rigidity without jeopardizing the control characteristics with respect to static deflection and natural frequencies.
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