This paper describes realtime and robust tracking of a planar motion target by matched filter implemented on the CMOS+FPGA vision system. It is required to obtain positional and angular signals around 1,000 Hz to control a mechanical system. A vision sensor must obtain visual features of a target object, synchronizing its sampling rate to the sampling rate of the control. The CMOS+FPGA vision system has been proposed to realize 1,000 Hz visual feedback. Matched filter can compute the position of a target robustly against occlusion, change of illumination, and background texture but requires much computation time since it includes 2D Fourier transform of images. Thus, matched filter algorithm is implemented on the system so that the matched filter can be performed in realtime. First we briefly introduce the CMOS+FPGA vision system. Second, we summarize the algorithm of matched filter to describe the design of the circuit performing matched filter on an FPGA. Finally, we show the experimental results of planar motion tracking by matched filter implemented on the system.

This paper describes a 1,000 Hz visual feedback using the CMOS+FPGA vision. It is required to obtain positional and angular signals around 1,000 Hz to control a mechanical system. A vision sensor must obtain visual features of a target object, synchronizing its sampling rate to the sampling rate of the control. Thus, we need 1) image capturing over 1,000 Hz with high resolution, 2) visual feature computation at the capturing rate, and 3) visual feature transmission to a control system with little delay. We propose the CMOS+FPGA vision system to realize 1,000 Hz visual feedback. This system consists of a CMOS image detector to capture images at 1,000 Hz and an FPGA to compute image features at this sampling rate. First we introduce the CMOS+FPGA vision system. Second, we show the implementation of the computation of the image gravity center. Then, we show the implementation of matched filter. Finally, we apply the image gravity center circuit to the visual control of a flexible link

This paper describes a 1,000 Hz visual feedback using the CMOS+FPGA vision. It is required to obtain positional and angular signals around 1,000 Hz to control a mechanical system. A vision sensor must obtain visual features of a target object, synchronizing its sampling rate to the sampling rate of the control. Thus, we need 1) image capturing over 1,000 Hz with high resolution, 2) visual feature computation at the capturing rate, and 3) visual feature transmission to a control system with little delay. We propose the CMOS+FPGA vision system to realize 1,000 Hz visual feedback. This system consists of a CMOS image detector to capture images at 1,000 Hz and an FPGA to compute image features at this sampling rate. We implement two vision algorithms to track planar motion on the CMOS+FPGA vision system. First we introduce the CMOS+FPGA vision system. Second, we show the implementation of the computation of the image gravity center. Then, we show the implementation of matched filter