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Object Tracking Using FPGA: (An application to a mobile robot)
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE).
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Object tracking in real time video is used to control the direction and to change the speed of a small two wheeled robot. The direction and speed of the mobile robot is controlled by tracking the position of the colored objects associated with the hand of the input user.

An FPGA is used to track the position of the objects in the images generated by the digital camera. Images received by the camera are in the form of Bayer pattern which are then transformed into RGB color space. To get a binary image out of the RGB image, color space is transformed into HSV so as to improve the result of color segmentation in different light intensities. After the binary image is generated, projection histograms are used to track the positions of the objects. Different positions of the objects are associated with different instructions which are sent to the robot. The robot receives these instructions through wireless transceiver and the controller inside the robot decodes these instructions and acts accordingly.

By changing the position of the objects, the robot can be moved forward with slow or high speed, stopped, turned left or right with different angles, moved in reverse direction and can be rotated clock-wise or in counter-clock wise direction.

Place, publisher, year, edition, pages
2012. , 64 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hh:diva-17769Local ID: IDE1219OAI: oai:DiVA.org:hh-17769DiVA: diva2:529539
Subject / course
Electrical Engineering
Presentation
2012-05-23, 14:00 (English)
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-05-31 Created: 2012-05-30 Last updated: 2012-05-31Bibliographically approved

Open Access in DiVA

Object Tracking Using FPGA(1792 kB)1853 downloads
File information
File name FULLTEXT01.pdfFile size 1792 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

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School of Information Science, Computer and Electrical Engineering (IDE)
Electrical Engineering, Electronic Engineering, Information Engineering

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Total: 1853 downloads
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Total: 462 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf