Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication
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Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication

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Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication

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dc.contributor.author Barrios Avilés, Juan
dc.contributor.author Iakymchuk, Taras
dc.contributor.author Samaniego, Jorge
dc.contributor.author Medus, Leandro Daniel
dc.contributor.author Rosado Muñoz, Alfredo
dc.date.accessioned 2018-12-14T15:46:51Z
dc.date.available 2018-12-14T15:46:51Z
dc.date.issued 2018
dc.identifier.uri http://hdl.handle.net/10550/68274
dc.description.abstract Event-based cameras are not common in industrial applications despite the fact that they can add multiple advantages for applications with moving objects. In comparison with frame-based cameras, the amount of generated data is very low while keeping the main information in the scene. For an industrial environment with interconnected systems, data reduction becomes very important to avoid network congestion and provide faster response time. However, the use of new sensors as event-based cameras is not common since they do not usually provide connectivity to industrial buses. This work develops a network node based on a Field Programmable Gate Array (FPGA), including data acquisition and tracking position for an event-based camera. It also includes spurious reduction and filtering algorithms while keeping the main features at the scene. The FPGA node also includes the stack of the network protocol to provide standard communication among other nodes. The powerlink IEEE 61158 industrial network is used to communicate the FPGA with a controller connected to a self-developed two-axis servo-controlled robot. The inverse kinematics model for the robot is included in the controller. To complete the system and provide a comparison, a traditional frame-based camera is also connected to the controller. Response time and robustness to lighting conditions are tested. Results show that, using the event-based camera, the robot can follow the object using fast image recognition achieving up to 85% percent data reduction providing an average of 99 ms faster position detection and less dispersion in position detection (4.96 mm vs. 17.74 mm in the Y-axis position, and 2.18 mm vs. 8.26 mm in the X-axis position) than the frame-based camera, showing that event-based cameras are more stable under light changes. Additionally, event-based cameras offer intrinsic advantages due to the low computational complexity required: small size, low power, reduced data and low cost. Thus, it is demonstrated how the development of new equipment and algorithms can be efficiently integrated into an industrial system, merging commercial industrial equipment with new devices.
dc.language.iso eng
dc.relation.ispartof Electronics, 2018, vol. 7, num. 11, p. 304
dc.rights.uri info:eu-repo/semantics/openAccess
dc.source Barrios Avilés, Juan Iakymchuk, Taras Samaniego, Jorge Medus, Leandro Daniel Rosado Muñoz, Alfredo 2018 Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication Electronics 7 11 304
dc.subject Enginyeria elèctrica
dc.subject Robots
dc.title Movement Detection with Event-Based Cameras: Comparison with Frame-Based Cameras in Robot Object Tracking Using Powerlink Communication
dc.type info:eu-repo/semantics/article
dc.date.updated 2018-12-14T15:46:51Z
dc.identifier.doi https://doi.org/10.3390/electronics7110304
dc.identifier.idgrec 128937

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