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     This project focuses on using real-time vision algorithms such as rank transform and Sum of Absolute Differences (SAD) for real-time user selected target tracking.  Vision algorithms are implemented on the embedded vision sensor to provide real-time feedback to the control system.  An ongoing project is to use feature detection and feature tracking algorithms implemented on the embedded vision sensor to control our four-rotor helicopter to track moving objects on the ground.

 Graduate Students:

  Jonathan Anderson, Spencer Fowers, Kirt Lillywhite, and Beau Tippetts

  1. B.J. Tippetts, S.G. Fowers, K.D. Lillywhite, D.J. Lee, and J.K. Archibald, “FPGA Implementation of a Feature Detection and Tracking Algorithm for Real-time Applications,” Lecture Notes in Computer Science (LNCS), Part II, LNCS 4841, p. 482-491, International Symposium on Visual Computing (ISVC), Lake Tahoe, CA, U.S.A., November 26-28, 2007.

  2. J.D. Anderson, D.J. Lee, B.B. Edwards, J.K. Archibald, and C.R. Greco, “Real-time Feature Tracking on an Embedded Vision Sensor for Small Vision-guided Unmanned Vehicles,” The 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), p. 55-60, Jacksonville, FL, USA, June 20-23, 2007.

  3. J.D. Anderson, D.J. Lee, R.B Schoenberger, and B.J. Tippetts, “Using Real-time Vision to Control a Convoy of Semi-Autonomous Unmanned Vehicle”, AUVSI’s Unmanned Systems North America, online proceedings, Orlando, Florida, August 29-31, 2006.

  4. J.D. Anderson, D.J. Lee, Z. Wei, and J.K. Archibald, “Semi-Autonomous Unmanned Ground Vehicle Control System”, SPIE International Symposium on Defense and Security, Unmanned Systems Technology VIII, vol. 6230-66, 62301M, Orlando, Florida, USA, April 17-21, 2006.

  5. J.D. Anderson, D.J. Lee, and J.K. Archibald, “FPGA Implementation of Vision Algorithms for Small Autonomous Robots, ”SPIE Optics East, Robotics Technologies and Architectures, Intelligent Robots and Computer Vision XVIII, vol. 6006, p. 401-411, Boston, MA, USA, October 23-26, 2005.
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