Title:	Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform
Authors:	Juřík, Martin Šmídl, Václav Mach, František
Citation:	JUŘÍK, M., ŠMÍDL, V., MACH, F. Trade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platform. Journal of Micro-Bio Robotics, 2020, roč. 16, č. 2, s. 123-135. ISSN 2194-6418.
Issue Date:	2020
Publisher:	Springer
Document type:	článek article
URI:	2-s2.0-85087400036 http://hdl.handle.net/11025/42284
ISSN:	2194-6418
Keywords in different language:	visual localization;block matching;optical flow;mini-robots
Abstract in different language:	Accurate and fast visual localization is required in many applications of mini-robotics. Obtaining the best possible result fora given platform requires a balanced combination of camera settings and efficient image processing of the acquired image. Inthis paper, we study the trade-off between a high-resolution and a high-speed acquisition mode of a conventional camera foran experimental platform of magnetically-propelled mini-robots. Specifically, we propose a two stage localization algorithmbased on fast pre-location using block matching followed by optical flow correction for subpixel accuracy of localization. Inthe experimental evaluation, we show that the difference in localization using two images of the same scene in resolutions1000×1000 px and 200×200 px is only 0.2 px of the higher resolution. The computational cost of the lower resolutionis 16 times lower than that of the higher resolution. This allows greater accuracy localization at a higher frame rate, whichsignificantly improves the dynamics of control. Experimental results demonstrate the precision and speed of the proposedalgorithm in the task of tracking a magnetically propelled robot on the platform.
Rights:	Plný text je přístupný v rámci univerzity přihlášeným uživatelům. © Springer
Appears in Collections:	Články / Articles (KTE) Články / Articles (RICE) OBD

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