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Design and Implementation of an Embedded Vision System for Industrial Robots

Asifuzzaman, Kazi (2013) In LU-CS-EX 2013-27 EDA920 20132
Department of Computer Science
Abstract (Swedish)
Enhanced vision system attached to any industrial robot undoubtedly increases its accuracy and precision. Today, vision in industrial robots is facilitated almost exclusively via external or fixed cameras which may cause rather inconvenience due to obstacles in the line of sight. In this master thesis project, an Embedded Vision System is designed and developed to stream live video of a robot's focus point while being attached to its arm/actuator. Within the scope of this work, a working prototype has been achieved which is capable of producing live video stream on 640 X 480 resolution with a frame rate slightly above 9 FPS, having 256 colors for each pixel, displayable on a regular LCD display monitor. The system has been realized in a... (More)
Enhanced vision system attached to any industrial robot undoubtedly increases its accuracy and precision. Today, vision in industrial robots is facilitated almost exclusively via external or fixed cameras which may cause rather inconvenience due to obstacles in the line of sight. In this master thesis project, an Embedded Vision System is designed and developed to stream live video of a robot's focus point while being attached to its arm/actuator. Within the scope of this work, a working prototype has been achieved which is capable of producing live video stream on 640 X 480 resolution with a frame rate slightly above 9 FPS, having 256 colors for each pixel, displayable on a regular LCD display monitor. The system has been realized in a Spartan 6 platform and an Aptina image sensor has been used to acquire pixel information. I2C interfacing has been used to program the image sensor, data transfers have been facilitated by DMA cores, an off-chip DDR2 memory has been used for frame buffer and HDMI has been used as video out. Feasibility of adding Ethernet transmission capability has also been investigated. (Less)
Please use this url to cite or link to this publication:
author
Asifuzzaman, Kazi
supervisor
organization
course
EDA920 20132
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Robot Vision, Video Streaming, Digital ASIC, Embedded System
publication/series
LU-CS-EX 2013-27
report number
LU-CS-EX 2013-27
ISSN
1650-2884
language
English
id
7855005
date added to LUP
2015-09-04 07:57:14
date last changed
2015-09-04 07:57:14
@misc{7855005,
  abstract     = {Enhanced vision system attached to any industrial robot undoubtedly increases its accuracy and precision. Today, vision in industrial robots is facilitated almost exclusively via external or fixed cameras which may cause rather inconvenience due to obstacles in the line of sight. In this master thesis project, an Embedded Vision System is designed and developed to stream live video of a robot's focus point while being attached to its arm/actuator. Within the scope of this work, a working prototype has been achieved which is capable of producing live video stream on 640 X 480 resolution with a frame rate slightly above 9 FPS, having 256 colors for each pixel, displayable on a regular LCD display monitor. The system has been realized in a Spartan 6 platform and an Aptina image sensor has been used to acquire pixel information. I2C interfacing has been used to program the image sensor, data transfers have been facilitated by DMA cores, an off-chip DDR2 memory has been used for frame buffer and HDMI has been used as video out. Feasibility of adding Ethernet transmission capability has also been investigated.},
  author       = {Asifuzzaman, Kazi},
  issn         = {1650-2884},
  keyword      = {Robot Vision,Video Streaming,Digital ASIC,Embedded System},
  language     = {eng},
  note         = {Student Paper},
  series       = {LU-CS-EX 2013-27},
  title        = {Design and Implementation of an Embedded Vision System for Industrial Robots},
  year         = {2013},
}