Implementation of an FPGA-Based Vision Localization

摘要

The robotic version has been widely used in various industry motion control applications, such as object identification, target tracking or environment monitoring, and etc. This paper focuses on studying the real-time FPGA-based implementation of object tracking for a three axes robot. In this work, a unified FPGA implementation for both object identification and target tracking, including basic image processing, image display and target tracking control, is proposed. In addition, target tracking control method with Sobel filter on edge detection, region of interest and motion control. Experimental results show the effectiveness and versatile application ability of the implementation algorithm in target tracking control. Due the flexibility and speed of FPGA hardware, the generated tracking command can be running in very high precision and very high frequency.