超並列・超高速ビジョンを用いた1msターゲットトラッキングシステム

抄録

It is obvious that visual servo systems have various applications for real time robot control. But most conventional vision systems have serious restriction on their performance, since those systems always use CCD cameras to acquire the images which transmitted by serial video signals. Therefore the sampling rate is limited by the video frame rate, and this restriction on the speed is quite insufficient to control of the robot.
To solve this problem we have developed a massively parallel processing vision system called SPE-256 in which the photo-detectors and processing elements are directly connected. We have realized high speed visual feedback with 1ms cycle time.
In this paper we describe our 1 ms visual feedback system and its performance in the application of high speed target tracking.