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This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness...
This paper presents a predictive visual recognition method to identify types of structural corridor landmark such as T-junctions, L-junctions and ends of the corridors, using vanishing point-based visual features and a two-layer HMM framework. The main advantage of the approach is that a mobile robot can recognize the types of structural landmark before reaching them. This is important for efficient...
The manipulator based on vision is used widely in many situations. However, there are many questions in the real-time control of manipulator based on vision, for example, the image processing is not exact, the image recognition is not fast and the process of the manipulator movement is not smoothly. All of these problems badly influence on the application of robots. In view of these drawbacks, this...
This paper proposes the mobile robot consisted of following function and returning function with monocular camera. In the following function, the robot follows the target object such as the person who walks in front of robot, and moves until reaching his destination. To follow him, the region extraction method is applied. Furthermore, the robot records the moving route. In the returning function,...
For vision SLAM, most of the current work focuses on employing point features as landmarks, few take advantage of lines. In this paper, an effective EKF-based monocular SLAM approach using vertical straight lines is proposed. The vertical straight line is represented with the inverse-depth form which allows an efficient and accurate representation of its depth uncertainty and can also increase the...
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