Development of a Machine Vision Based Target Tracking System

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Kiss Domokos
Department of Automation and Applied Informatics

Nowdays, the applications of mobile robotics and artifical intelligence are gaining strong momentum. Due to continous innovation the technological borders are moving farther and engineers' toolbox is getting bigger. At the department of Automation and Applied Informatics, more laboratories, dealing with mobile robotics are being shaped to serve as a home for several practical applications, thus improving the quality of educational and R\&D activities.

The use of machine vision is very popular in complex tasks, such as path planning or object tracking. A tracking device which can communicate with and in particular cases control other intelligent devices in the laboratory could widen the spectrum of solvable problems.

Reconfigurability is an important factor during the planning cycle of intelligent laboratory devices, in order to be able to use the same device in different kind of tasks. Distributed systems grant this through their modularity, therefore there are different separated segments, working with each other and being able to be modified, increasing the flexibility of the whole system.

Programmable logic devices offer a great solution for the realization of machine vision with their bandwidth and processing speed. High performance ARM microcontrollers provide an excellent and reachable alternative for such functions as communicating with the environment, receiving the flowing data from the FPGA and the calculation of different control algorithms. The aim of this thesis is to design, build and program the machine vision based tracking system mentioned above.

This thesis aims to present the development of a distributed mechatronical system, which can track the movement of an object in real-time and communicate with other intelligent devices. This solution is based on the coordinated work of three different controller cards, from which one can be purchased commercially and the other two are designed for this purpose. In the following chapters the details of hardware, software and mechanical development can be found.


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