Trade-off between resolution and frame rate for visual tracking of mini-robots on planar surfaces

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F19%3A43956098" target="_blank" >RIV/49777513:23220/19:43956098 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/8860966" target="_blank" >https://ieeexplore.ieee.org/document/8860966</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/MARSS.2019.8860966" target="_blank" >10.1109/MARSS.2019.8860966</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trade-off between resolution and frame rate for visual tracking of mini-robots on planar surfaces

Popis výsledku v původním jazyce

Accurate and fast visual localization is required in many applications of mini-robotics. Achieving both fast and accurate algorithms is difficult due to computational and acquisition issues. Higher image resolution typically implies lower frame rates which results in blurred images of fast moving robots. We aim to achieve as high frame rate as possible with acceptable accuracy of localization. Specifically, we propose a two stage localization algorithm based on fast block matching for fast localization followed by optical flow correction for subpixel accuracy of localization. We show in experimental evaluation that the difference in localization using an image of the same scene in resolution 1000×1000 px and 200×200 px is 0.2 px of the higher resolution. Computational cost of the lower resolution is 16 times lower than that for the high resolution. This allows us to achieve high accuracy localization at higher frame rates which significantly reduces the blur artefacts caused by low frame rates. Experimental results are shown to demonstrate the precision and speed of the proposed algorithm in the tracking of a robot on a recorded video.

Název v anglickém jazyce

Trade-off between resolution and frame rate for visual tracking of mini-robots on planar surfaces

Popis výsledku anglicky

Accurate and fast visual localization is required in many applications of mini-robotics. Achieving both fast and accurate algorithms is difficult due to computational and acquisition issues. Higher image resolution typically implies lower frame rates which results in blurred images of fast moving robots. We aim to achieve as high frame rate as possible with acceptable accuracy of localization. Specifically, we propose a two stage localization algorithm based on fast block matching for fast localization followed by optical flow correction for subpixel accuracy of localization. We show in experimental evaluation that the difference in localization using an image of the same scene in resolution 1000×1000 px and 200×200 px is 0.2 px of the higher resolution. Computational cost of the lower resolution is 16 times lower than that for the high resolution. This allows us to achieve high accuracy localization at higher frame rates which significantly reduces the blur artefacts caused by low frame rates. Experimental results are shown to demonstrate the precision and speed of the proposed algorithm in the tracking of a robot on a recorded video.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/LO1607" target="_blank" >LO1607: RICE – Nové technologie a koncepce pro inteligentní průmyslové systémy</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of MARSS 2019 : 4th International Conference on Manipulation, Automation, and Robotics at Small Scales

ISBN

978-1-72810-947-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Helsinki, Finland

Datum konání akce

1. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000661919000034