Artículo
A Mobile Platform for Movement Tracking Based on a Fast-Execution-Time Optical-Flow Algorithm
Autor/es | Rosa Vidal, Rafael de la
Leñero Bardallo, Juan Antonio Guerrero Rodríguez, José María Rodríguez Vázquez, Ángel Benito |
Departamento | Universidad de Sevilla. Departamento de Electrónica y Electromagnetismo |
Fecha de publicación | 2022 |
Fecha de depósito | 2023-11-15 |
Publicado en |
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Resumen | A multi-purpose mechanical platform to track moving objects in three-dimensional space has been developed. It is composed of one main microcontroller board that processes all system data, two cameras, three motors, and one ... A multi-purpose mechanical platform to track moving objects in three-dimensional space has been developed. It is composed of one main microcontroller board that processes all system data, two cameras, three motors, and one secondary microcontroller board to position a platform with three degrees of freedom. The system computes the optical flow and moves the cameras accordingly, tracking motion within the visual scene. The platform operates autonomously. To the best of our knowledge, there are no similar systems reported with low-resolution image sensors and low-cost microcontrollers. Existing solutions rely on personal computers and advanced FPGAs to process image data. This article concludes that the optical flow operation is efficient even using an image sensor with very low resolution. Thus, the system complexity and image data processing are alleviated significantly. The platform can be easily adapted to different application scenarios by adding new peripherals, sensors, or image processing algorithms. A detailed description of the system design and experimental results are provided. |
Agencias financiadoras | Junta de Andalucía Ministerio de Economía y Competitividad (MINECO). España Office of Naval Research (ONR). United States |
Identificador del proyecto | US-1264940
CEI- 07 RTI2018-097088-B-C31 N00014-19-1-2156 |
Cita | Rosa Vidal, R.d.l., Leñero Bardallo, J.A., Guerrero Rodríguez, J.M. y Rodríguez Vázquez, Á.B. (2022). A Mobile Platform for Movement Tracking Based on a Fast-Execution-Time Optical-Flow Algorithm. IEEE Transactions on Circuits and Systems I: Regular Papers, 69 (4), 1715-1727. https://doi.org/10.1109/TCSI.2021.3136656. |
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A mobile platform.pdf | 6.498Mb | [PDF] | Ver/ | |