Real-time image processing system by using FPGA for service robots

Abstract

This paper presents a real-time image processing system for a mobile service robot which is implemented by an FPGA reconfigurable logic device. The digital image processing acquired by a CMOS image sensor is performed on the embedded FPGA board and Linux-based real-time video communication module. The integrated robot vision system aims to achieve a suitable platform available from both hardware and software. In addition, we also present spatial recognition by edge detection and tracking function of moving objects by using the frame difference method which is necessary for autonomous mobile robots.