An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots

Abstract

This work presents the development of an integrated hardware/software sensor system for moving object detection and distance calculation, based on background subtraction algorithm. The sensor comprises a catadioptric system composed by a camera and a convex mirror that reflects the environment to the camera from all directions, obtaining a panoramic view. The sensor is used as an omnidirectional vision system, allowing for localization and navigation tasks of mobile robots. Several image processing operations such as filtering, segmentation and morphology have been included in the processing architecture. For achieving distance measurement, an algorithm to determine the center of mass of a detected object was implemented. The overall architecture has been mapped onto a commercial low-cost FPGA device, using a hardware/software co-design approach, which comprises a Nios II embedded microprocessor and specific image processing blocks, which have been implemented in hardware. The background subtraction algorithm was also used to calibrate the system, allowing for accurate results. Synthesis results show that the system can achieve a throughput of 26.6 processed frames per second and the performance analysis pointed out that the overall architecture achieves a speedup factor of 13.78 in comparison with a PC-based solution running on the real-time operating system xPC Target.

XDMOM: A Real-Time Moving Object Detection System Based on a Dual-Spectrum Camera

“…Mori et al [ 15 ] presented an FPGA-based omnidirectional vision system based on a background subtraction algorithm for moving object detection in mobile robotic applications. The detection error was about 24% at a distance of 200 cm, thus the system was not suitable for long-distance detection.…”

“…In summary, the drawbacks of existing video surveillance systems are analyzed from several aspects. Firstly, the time conditions (day or night) are not considered; most of the video surveillance systems cannot work at night [ 15 , 17 , 18 , 19 , 20 , 21 , 22 ]. Secondly, some video surveillance systems are only suitable for indoor or close-range monitoring [ 15 , 17 , 18 ].…”

“…Firstly, the time conditions (day or night) are not considered; most of the video surveillance systems cannot work at night [ 15 , 17 , 18 , 19 , 20 , 21 , 22 ]. Secondly, some video surveillance systems are only suitable for indoor or close-range monitoring [ 15 , 17 , 18 ]. Thirdly, some systems have a low detection speed of only about 5~10 fps, though the acquisition rate of their cameras can reach 30 fps or faster [ 21 , 22 ].…”