FPGA Implementation of Image Processing for Real-Time Robot Vision System

  • Hayato Hagiwara
  • Kenichi Asami
  • Mochimitsu Komori
Part of the Communications in Computer and Information Science book series (CCIS, volume 206)


This paper presents a real-time robot vision system integrating adequate image processing and pan-tilt motion control which is implemented by FPGA reconfigurable logic device. The digital image processing acquired by CMOS image sensor is performed on the embedded FPGA board and Linux 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 determining color which are necessary for autonomous mobile robots.


Robot Vision System Autonomous Mobile Robots FPGA Real-time Linux Device Driver 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Hayato Hagiwara
    • 1
  • Kenichi Asami
    • 1
  • Mochimitsu Komori
    • 1
  1. 1.Department of Applied Science for Integrated System EngineeringKyushu Institute of TechnologyKitakyushuJapan

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