Robust real-time corner location measurement

Abstract

In this paper, a new computationally efficient method for the tracking and measurement of center location is presented. This algorithm is well suited to real-time focus-of-attention applications in which regions-of-interest, or windows, are used to reduce image data rates. These techniques can be used in robot guidance applications, where high speed image processing is required for real-time position control, such as robot assembly operations in flexible manufacturing. The method is applied in a system based on a 200 frames/s digital camera, programmable gate array technology, and a network of TMS320C40 digital signal processor modules. A real-time motion tracking experiment that uses this corner detection technique is described to demonstrate the advantages of this approach. Experimental results show that the center location of an object in a gray scale image can be determined at 114 Hz.