1ms Column Parallel Vision System and It s Application of High Speed Target Tracking
نویسندگان
چکیده
0 Robot control using a real-time visual feedback has been recently improved (visual servoing.) Conventional vision systems are too slow for these application, because the CCD cameras are restricted to the video frame rate ( N T S C 30Hz, PAL 25Hz). To solve this problem, we have developed a 1ms vision system, to provide a far faster frame rate than that of the conventional systems. Our 1ms vision system has a 128×128 PD array and an all parallel processor array connect to each other in a column parallel architecture, so that the bottleneck of an image transfer has been solved. 1ms visual feedback has been realized in this system, in which the image feature value is extracted in 1ms cycle-time for visual servoing. We have also developed a high speed Active Vision System (A VS)-II, which makes a gaze of vision system to move at high speed. In this paper, we will provide a detail discussion on our 1ms vision system and its performance through some experiments.
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