FPGAを用いた3玉モデルの実時間適合度計算

抄録

Today, the introduction of robots is desired for exploration in unknown environments and investigations of disaster sites. Intelligent robot is required to work in an environment where it is constantly changing. In our laboratory, we have been studying visual servoing by stereo vision. Then, we are trying to introduce FPGA for shortening real-time measurement. FPGA stands for“Field Programmable Gate Array.” It has already been applied in a wide range of fields such as communications, medical care, and analysis. FPGA can easily change integrated circuits and perform task processing in parallel. This can be expected to speed up the calculation of goodness of fit and increase the number of GA evolutions. However, it has not been fully introduced yet. In this report, we report the realization of the calculations of a three-ball model-based matching by FPGA.