An FPGA-based RGBD imager

Chen, Lei; Jia, Yingmin; Li, Mingxiang

doi:10.1007/s00138-011-0334-z

Cited by 13 publications

(5 citation statements)

References 27 publications

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“…), but also to analyze the information and generate appropriate response or feedback to humans. In our system, a high performance stand-alone stereovision system (RGBD imager) [2] developed in our lab is used as the only sensor for perceiving human's activity. The RGBD imager provides the composite output of color (RGB) images and dense disparity (D) maps at video rate.…”

Section: Introductionmentioning

confidence: 99%

Stereovision-Only Based Interactive Mobile Robot for Human-Robot Face-to-Face Interaction

Chen

Dong

Gao

et al. 2014

2014 22nd International Conference on Pattern Recognition

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In this paper, we present a stereovision-only based interactive mobile robot for supporting human-robot face-to-face interaction in the real world. A three-level architecture, which consists of sensor level, perception level and behavior level, is designed for the robot in order to perceive, understand and react to the human activity during interaction based only on visual information. A high performance stand-alone stereovision system (RGBD imager), developed in our lab, is applied to obtain the composite of color (RGB) images and dense disparity (D) maps at video rate. The RGBD imager allows the robot a human-like 3-D visual perception ability to (1) autonomously detect the human of interest whom the robot could interact with using the offline learning approaches, and (2) focus exclusively on the target human while both the human and the robot are moving during interaction using on-line learning approaches. We demonstrate and evaluate the performance of our interactive mobile robot in an office environment. The experimental results show that a reliable and dynamic face-to-face interaction is achieved, so that the target human face is always kept in the field of view and at a suitable social distance from the robot.

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Section: Introductionmentioning

confidence: 99%

Stereovision-Only Based Interactive Mobile Robot for Human-Robot Face-to-Face Interaction

Chen

Dong

Gao

et al. 2014

2014 22nd International Conference on Pattern Recognition

Self Cite

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“…14 The color image combining depths is called RGBD (red, green, blue, depth) image, which can provide large convenience for object recognition or tracking. [15][16][17][18] For example, Chen et al developed an FPGA-based RGBD imager, which is a trinocular stereo vision system to generate the composite color RGB and disparity data stream at video rate. 15 Teichman et al 16 investigated the problem of segmenting and tracking deformable objects in RGBD data, which is available from commodity sensors such as the Asus Xtion Pro Live or Microsoft Kinect.…”

Section: Introductionmentioning

confidence: 99%

“…[15][16][17][18] For example, Chen et al developed an FPGA-based RGBD imager, which is a trinocular stereo vision system to generate the composite color RGB and disparity data stream at video rate. 15 Teichman et al 16 investigated the problem of segmenting and tracking deformable objects in RGBD data, which is available from commodity sensors such as the Asus Xtion Pro Live or Microsoft Kinect. Gedik and Alatan proposed an automated 3-D tracking algorithm based on fusion of vision and depth sensors via extended Kalman filter.…”

Section: Introductionmentioning

confidence: 99%

A new vision measurement method based on active object gazing

Wang

2017

International Journal of Advanced Robotic Systems

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A new vision measurement system is developed with two cameras. One is fixed in pose to serve as a monitor camera. It finds and tracks objects in image space. The other is actively rotated to track the object in Cartesian space, working as an active object-gazing camera. The intrinsic parameters of the monitor camera are calibrated. The view angle corresponding to the object is calculated from the object's image coordinates and the camera's intrinsic parameters. The rotation angle of the object-gazing camera is measured with an encoder. The object's depth is computed with the rotation angle and the view angle. Then the object's three-dimensional position is obtained with its depth and normalized imaging coordinates. The error analysis is provided to assess the measurement accuracy. The experimental results verify the effectiveness of the proposed vision system and measurement method.

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“…A limited number of trinocular disparity estimation hardware implementations are presented in the literature [9][10]. The hardware presented in [9] enables handling 52 fps on an Altera Cyclone-IV FPGA at a 640×480 video resolution and for a 32 pixels disparity range.…”

Section: Introductionmentioning

confidence: 99%

“…The hardware presented in [9] enables handling 52 fps on an Altera Cyclone-IV FPGA at a 640×480 video resolution and for a 32 pixels disparity range. The hardware presented in [10] uses a triangular configuration of three cameras and enables handling 30 fps on a Xilinx Virtex-4 FPGA at a 320×240 video resolution for a 64 pixels disparity range. This paper presents hardware-oriented and high-quality trinocular adaptive window size disparity estimation (T-AWDE) algorithm and its real-time hardware.…”

Section: Introductionmentioning

confidence: 99%

Trinocular adaptive window size disparity estimation algorithm and its real-time hardware

Akın

Capoccia

Narinx

et al. 2015

VLSI Design, Automation and Test(VLSI-Dat)

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This paper proposes a hardware-oriented trinocular adaptive window size disparity estimation (T-AWDE) algorithm and the first real-time trinocular disparity estimation (DE) hardware that targets high-resolution images with highquality disparity results. The proposed trinocular DE hardware is the enhanced version of the recently published binocular AWDE implementation. The T-AWDE hardware generates a very high-quality depth map by merging two depth maps obtained from the center-left and center-right camera pairs. The T-AWDE hardware enhances disparity results by applying a double checking scheme which solves most of the occlusion problems existing in the AWDE implementation while providing correct disparity results even for objects located at left or right edge of the center image. The proposed T-AWDE hardware architecture enables handling 55 frames per second on a Virtex-7 FPGA at a 1024×768 XGA video resolution for a 128 pixels disparity range.

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An FPGA-based RGBD imager

Cited by 13 publications

References 27 publications

Stereovision-Only Based Interactive Mobile Robot for Human-Robot Face-to-Face Interaction

Stereovision-Only Based Interactive Mobile Robot for Human-Robot Face-to-Face Interaction

A new vision measurement method based on active object gazing

Trinocular adaptive window size disparity estimation algorithm and its real-time hardware

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