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dc.contributor.authorJuřík, Martin
dc.contributor.authorŠmídl, Václav
dc.contributor.authorKuthan, Jiří
dc.contributor.authorMach, František
dc.date.accessioned2020-03-30T10:00:26Z-
dc.date.available2020-03-30T10:00:26Z-
dc.date.issued2019
dc.identifier.citationJUŘÍK, M., ŠMÍDL, V., KUTHAN, J., MACH, F. Trade-off between resolution and frame rate for visual tracking of mini-robots on planar surfaces. In: Proceedings of MARSS 2019 : 4th International Conference on Manipulation, Automation, and Robotics at Small Scales. Piscataway: IEEE, 2019. s. 1-6. ISBN 978-1-72810-947-3.en
dc.identifier.isbn978-1-72810-947-3
dc.identifier.uri2-s2.0-85073869947
dc.identifier.urihttp://hdl.handle.net/11025/36798
dc.description.abstractAccurate and fast visual localization is required in many applications of mini-robotics. Achieving both fast and accurate algorithms is difficult due to computational and acquisition issues. Higher image resolution typically implies lower frame rates which results in blurred images of fast moving robots. We aim to achieve as high frame rate as possible with acceptable accuracy of localization. Specifically, we propose a two stage localization algorithm based on fast block matching for fast localization followed by optical flow correction for subpixel accuracy of localization. We show in experimental evaluation that the difference in localization using an image of the same scene in resolution 1000×1000 px and 200×200 px is 0.2 px of the higher resolution. Computational cost of the lower resolution is 16 times lower than that for the high resolution. This allows us to achieve high accuracy localization at higher frame rates which significantly reduces the blur artefacts caused by low frame rates. Experimental results are shown to demonstrate the precision and speed of the proposed algorithm in the tracking of a robot on a recorded video.en
dc.format6 s.cs
dc.format.mimetypeapplication/pdf
dc.language.isoenen
dc.publisherIEEEen
dc.relation.ispartofseriesProceedings of MARSS 2019 : 4th International Conference on Manipulation, Automation, and Robotics at Small Scalesen
dc.rightsPlný text není přístupný.cs
dc.rights© IEEEen
dc.titleTrade-off between resolution and frame rate for visual tracking of mini-robots on planar surfacesen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.rights.accessclosedAccessen
dc.type.versionpublishedVersionen
dc.subject.translatedimage resolutionen
dc.subject.translatedoptical imagingen
dc.subject.translatedvisualizationen
dc.subject.translatedadaptive opticsen
dc.subject.translatedoptical sensorsen
dc.subject.translatedrobot sensing systemsen
dc.identifier.doi10.1109/MARSS.2019.8860966
dc.type.statusPeer-revieweden
dc.identifier.obd43927097
dc.project.IDLO1607/RICE-NETESIS - nové technologie a koncepce pro inteligentní průmyslové systémy (NETESIS)cs
dc.project.IDSGS-2018-043/Rozvoj technik robustního návrhu v elektrotechnických aplikacíchcs
Vyskytuje se v kolekcích:Konferenční příspěvky / Conference papers (RICE)
Konferenční příspěvky / Conference papers (KTE)
OBD

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