Parallel computation of level set method for 500 Hz visual servo control

Xianfeng Fei; Yasunobu Igarashi; Koichi Hashimoto

doi:10.1117/12.822582

10 February 2009 Parallel computation of level set method for 500 Hz visual servo control

Xianfeng Fei, Yasunobu Igarashi, Koichi Hashimoto

Proceedings Volume 7126, 28th International Congress on High-Speed Imaging and Photonics; 71261S (2009) https://doi.org/10.1117/12.822582
Event: 28th International Congress on High-Speed Imaging and Photonics, 2008, Canberra, Australia

Abstract

We propose a 2D microorganism tracking system using a parallel level set method and a column parallel vision system (CPV). This system keeps a single microorganism in the middle of the visual field under a microscope by visual servoing an automated stage. We propose a new energy function for the level set method. This function constrains an amount of light intensity inside the detected object contour to control the number of the detected objects. This algorithm is implemented in CPV system and computational time for each frame is 2 [ms], approximately. A tracking experiment for about 25 s is demonstrated. Also we demonstrate a single paramecium can be kept tracking even if other paramecia appear in the visual field and contact with the tracked paramecium.

Citation Download Citation

Xianfeng Fei, Yasunobu Igarashi, and Koichi Hashimoto "Parallel computation of level set method for 500 Hz visual servo control", Proc. SPIE 7126, 28th International Congress on High-Speed Imaging and Photonics, 71261S (10 February 2009); https://doi.org/10.1117/12.822582

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