A low-cost, DSP-based, intelligent vision system for robotic applications

Abstract

In this paper we present the design and implementation of a novel low-cost active vision system for robotic applications. The system is comprised of two parts: A 4-DOF trinocular active camera head and a DSP-based image acquisition and processing board. Design issues and tradeoffs are discussed. The performance of the system is evaluated by running an edge-based object tracking algorithm that is also presented in this paper. Experimental results show that the system is capable of tracking objects at 30 frames/sec.