Authors:
Maximilian Götzinger
1
;
Martin Pongratz
2
;
Amir M. Rahmani
3
and
Axel Jantsch
2
Affiliations:
1
University of Turku, Finland
;
2
TU Wien, Austria
;
3
TU Wien and University of California, Austria
Keyword(s):
CUDA, GPU, Canny, RANSAC, Image Processing, Parallel Algorithm, Flight Path Prediction, Based on Memorized Trajectories.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Features Extraction
;
Geometry and Modeling
;
Image and Video Analysis
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Optical Flow and Motion Analyses
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
;
Tracking and Visual Navigation
Abstract:
Summarized under the term Transport-by-Throwing, robotic arms throwing objects to each other are a visionary
system intended to complement the conventional, static conveyor belt. Despite much research and many
novel approaches, no fully satisfactory solution to catch a ball with a robotic arm has been developed so far. A
new approach based on memorized trajectories is currently being researched. This paper presents an algorithm
for real-time image processing and flight prediction. Object detection and flight path prediction can be done
fast enough for visual input data with a frame rate of 130 FPS (frames per second). Our experiments show
that the average execution time for all necessary calculations on an NVidia GTX 560 TI platform is less than
7.7ms. The maximum times of up to 11.7ms require a small buffer for frame rates over 85 FPS. The results
demonstrate that the use of a GPU (Graphics Processing Unit) considerably accelerates the entire procedure
and can lead to execution rate
s of 3.5 to 7.2 faster than on a CPU. Prediction, which was the main focus of
this research, is accelerated by a factor of 9.5 by executing the devised parallel algorithm on a GPU. Based on
these results, further research could be carried out to examine the prediction system’s reliability and limitations
(compare (Pongratz, 2016)).
(More)