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dc.contributor.authorJuřík, Martin
dc.contributor.authorŠmídl, Václav
dc.contributor.authorMach, František
dc.date.accessioned2020-12-21T11:00:08Z
dc.date.available2020-12-21T11:00:08Z
dc.date.issued2020
dc.identifier.citationJUŘÍK, 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.cs
dc.identifier.issn2194-6418
dc.identifier.uri2-s2.0-85087400036
dc.identifier.urihttp://hdl.handle.net/11025/42284
dc.format13 s.cs
dc.format.mimetypeapplication/pdf
dc.language.isoenen
dc.publisherSpringeren
dc.relation.ispartofseriesJournal of Micro-Bio Roboticsen
dc.rightsPlný text je přístupný v rámci univerzity přihlášeným uživatelům.cs
dc.rights© Springeren
dc.titleTrade-off between resolution and frame rate of visual tracking of mini-robots on an experimental planar platformen
dc.typečlánekcs
dc.typearticleen
dc.rights.accessrestrictedAccessen
dc.type.versionpublishedVersionen
dc.description.abstract-translatedAccurate 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.en
dc.subject.translatedvisual localizationen
dc.subject.translatedblock matchingen
dc.subject.translatedoptical flowen
dc.subject.translatedmini-robotsen
dc.identifier.doi10.1007/s12213-020-00134-3
dc.type.statusPeer-revieweden
dc.identifier.document-number544533700001
dc.identifier.obd43929951
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
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Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/42284

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