{"title":"Hardware Centric Machine Vision for High Precision Center of Gravity Calculation","authors":"Xin Cheng, Benny Th\u00f6rnberg, Abdul Waheed Malik, Najeem Lawal","volume":40,"journal":"International Journal of Physical and Mathematical Sciences","pagesStart":493,"pagesEnd":501,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/15570","abstract":"We present a hardware oriented method for real-time\r\nmeasurements of object-s position in video. The targeted application\r\narea is light spots used as references for robotic navigation. Different\r\nalgorithms for dynamic thresholding are explored in combination\r\nwith component labeling and Center Of Gravity (COG) for highest\r\npossible precision versus Signal-to-Noise Ratio (SNR). This method\r\nwas developed with a low hardware cost in focus having only one\r\nconvolution operation required for preprocessing of data.","references":"[1] Larsson U., Zell C., Hyypp\u251c\u00f1 K., Wernersson \u00c5.: Navigating an\r\nArticulated Vehicle and Reversing with a Trailer. Proceedings 1994\r\nIEEE International Conference on Robotics and Automation, vol. 3, pp.\r\n2398--2404, San Diego, USA (1994).\r\n[2] Wolf W., Ozer C., Lv T.: Smart cameras as embedded systems.\r\nComputer, vol. 35, no. 9 (2002).\r\n[3] Dias F., Berry F., Serot J., Marmoiton F.: Hardware, design and\r\nimplementation issues on a fpga-based smart camera. Proc. First\r\nACM\/IEEE international conference on distributed smart cameras. pp\r\n20--26, Vienna, Austria (2007).\r\n[4] Carsten Steger, Markus Ulrich and Christian Wiedemann,Machine\r\nvision algorithms and applications, Wiley-VCH 2008.\r\n[5] Wnuk M.: Remarks on hardware implementation of image processing\r\nalgorithms. Int. journal of applied mathematics and computer science.\r\nVol. 18, No. 1, pp105--110 (2008).\r\n[6] H. C. van Assen, M. Egmont-Petersen, and J. H. C. Reiber, \"Accurate\r\nObject Localization in Gray Level Images Using the Center of Gravity\r\nMeasure: Accuracy Versus Precision, IEEE Transaction on Image\r\nProcessing,\" Vol. 11, No.12 December 2002.\r\n[7] R.C. Gonzales and R.E. Woods, Addison Wesley,Digital Image\r\nProcessing, 2008, third edition.\r\n[8] A. Patwardhan, Subpixel position measurement using 1D,2D and 3D\r\ncentroid algorithms with emphasis on applications in confocal\r\nmicroscopy, Journal of Microscopy, Vol. 186,Pt 3, June 1997, pp. 246-\r\n257.\r\n[9] Alexander Fish, Dmitry Akselrod and Orly Yadid-Pecht-Pecht, High\r\nPrecision Image Centroid Computation via an Adaptive K-Winner-\r\nTake-all Circuit in Conjunction with a Dynamic Element Matching\r\nAlgorithm for Star Tracking Applications, Analog Integrated Circuits\r\nand Signal Processing, 39, 251-266, 2004.\r\n[10] G.A.W. West, & T.A. Clarke, 1990, \"A survey and examination of\r\nsubpixel measurement techniques.\", ISPRS Int. Conf. on Close Range\r\nPhotogrammetry and Machine Vision, SPIE Vol. 1395, pp 456 - 463,\r\nSept. 3-7.\r\n[11] Clarke, T.A. Cooper, M.A.R. & Fryer, J.G., 1993. An estimator for the\r\nrandom error in subpixel target location and its use in the bundle\r\nadjustment. Optical 3-D measurements techniques II, Pub. Wichmann,\r\nKarlsruhe:161-168.\r\n[12] B.Th\u00f6rnberg et al. \"Bit-Width Constrained Memory Hierarchy\r\nOptimization for Real-Time Video Systems\", IEEE Transactions on\r\nComputer-Aided Design of Integrated Circuits and Systems, Vol26, No\r\n4, pp 781-800, April 2007.\r\n[13] B. Th\u00f6rnberg and N. Lawal, \"Real-time component labelling and feature\r\nextraction on FPGA\", Proc. of International Symposium on Signals,\r\nCircuits and Systems, Iasi, Romania 2009,","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 40, 2010"}