Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F20%3A43958952" target="_blank" >RIV/49777513:23220/20:43958952 - isvavai.cz</a>

Výsledek na webu

<a href="https://link.springer.com/article/10.1007/s12213-020-00134-3" target="_blank" >https://link.springer.com/article/10.1007/s12213-020-00134-3</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s12213-020-00134-3" target="_blank" >10.1007/s12213-020-00134-3</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform

Popis výsledku v původním jazyce

Accurate and fast visual localization is required in many applications of mini-robotics. Obtaining the best possible result fora given platform requires a balanced combination of camera settings and efficient image processing of the acquired image. Inthis paper, we study the trade-off between a high-resolution and a high-speed acquisition mode of a conventional camera foran experimental platform of magnetically-propelled mini-robots. Specifically, we propose a two stage localization algorithmbased on fast pre-location using block matching followed by optical flow correction for subpixel accuracy of localization. Inthe experimental evaluation, we show that the difference in localization using two images of the same scene in resolutions1000×1000 px and 200×200 px is only 0.2 px of the higher resolution. The computational cost of the lower resolutionis 16 times lower than that of the higher resolution. This allows greater accuracy localization at a higher frame rate, whichsignificantly improves the dynamics of control. Experimental results demonstrate the precision and speed of the proposedalgorithm in the task of tracking a magnetically propelled robot on the platform.

Název v anglickém jazyce

Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform

Popis výsledku anglicky

Accurate and fast visual localization is required in many applications of mini-robotics. Obtaining the best possible result fora given platform requires a balanced combination of camera settings and efficient image processing of the acquired image. Inthis paper, we study the trade-off between a high-resolution and a high-speed acquisition mode of a conventional camera foran experimental platform of magnetically-propelled mini-robots. Specifically, we propose a two stage localization algorithmbased on fast pre-location using block matching followed by optical flow correction for subpixel accuracy of localization. Inthe experimental evaluation, we show that the difference in localization using two images of the same scene in resolutions1000×1000 px and 200×200 px is only 0.2 px of the higher resolution. The computational cost of the lower resolutionis 16 times lower than that of the higher resolution. This allows greater accuracy localization at a higher frame rate, whichsignificantly improves the dynamics of control. Experimental results demonstrate the precision and speed of the proposedalgorithm in the task of tracking a magnetically propelled robot on the platform.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

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

2020

Kód důvěrnosti údajů

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

Název periodika

Journal of Micro-Bio Robotics

ISSN

2194-6418

e-ISSN

—

Svazek periodika

16

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

DE - Spolková republika Německo

Počet stran výsledku

13

Strana od-do

123-135

Kód UT WoS článku

000544533700001

EID výsledku v databázi Scopus

2-s2.0-85087400036