An embedded vision system for robotic fish navigation

In this chapter, the authors describe their vision system used in the Standard Platform League (SPL), one of the official leagues in RoboCup competition. The characteristics of SPL are very demanding, as all the processing must be done on board, and the changeable environment requires powerful methods for extracting information and robust filters. The purpose is to show a vision system that meets these goals. The chapter describes the architecture of the authors’ system as well as the flowchart of the image process, which is designed in such a manner that allows a rapid and reliable calibration. The authors deal with field features detection by finding intersections between field lines at frame rate, using a fuzzy-Markov localisation technique. Also, the methods implemented to recognise the ball and goals are explained.

Download Full-text

A reconfigurable embedded vision system for advanced driver assistance

Journal of Real-Time Image Processing ◽

10.1007/s11554-014-0412-3 ◽

2014 ◽

Vol 10 (4) ◽

pp. 725-739 ◽

Cited By ~ 13

Author(s):

Gorka Velez ◽

Ainhoa Cortés ◽

Marcos Nieto ◽

Igone Vélez ◽

Oihana Otaegui

Keyword(s):

Vision System ◽

Driver Assistance ◽

Embedded Vision ◽

Embedded Vision System

Download Full-text

Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

The Scientific World JOURNAL ◽

10.1155/2014/631296 ◽

2014 ◽

Vol 2014 ◽

pp. 1-13 ◽

Cited By ~ 8

Author(s):

Junzhi Yu ◽

Kai Wang ◽

Min Tan ◽

Jianwei Zhang

Keyword(s):

Visual Processing ◽

Vision System ◽

The Body ◽

Robotic Fish ◽

Multiple Control ◽

Caudal Fin ◽

Embedded Vision ◽

And Control ◽

Control Surfaces ◽

Pelvic Fin

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

Download Full-text