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Embedded CMOS imaging system for real-time robotic vision

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2 Author(s)
Andrian, H. ; Dept. of Electr. & Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Kai-Tai Song

This paper presents a real-time robotic vision system that provides visual information for a control scheme of mobile manipulation. The hardware implementation consists of a CMOS image board and a TI DSP board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation proposes a visual servoing using a behavior-based approach to solving the mobile manipulator control problem. The description of the hardware and software implementation is given and experimental results are discussed.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005