RESEARCHES
Smart Vision & Robotic Sensing
![](https://robotics.hiroshima-u.ac.jp/wp/wp-content/uploads/2020/04/img_idaku_ishii.jpg)
Professor, Robotics Laboratory
Smart Innovation Program, Graduate School of Advanced Science and Engineering
Hiroshima University
Smart Innovation Program, Graduate School of Advanced Science and Engineering
Hiroshima University
Idaku ISHII
- >> Research Contents
- In order to establish high-speed robot senses that are much faster than human senses, we are conducting research and development of information systems and devices that can achieve real-time image processing at 1000 frames/s or greater. As well as integrated algorithms to accelerate sensor information processing, we are also studying new sensing methodologies based on vibration and flow dynamics; they are too fast for humans to sense.
Fast Color-Histogram-Based Target Tracking
In this study, we introduces a high-speed vision system that can be applied to color-histogram-based tracking at 2000 fps by hardware implementing an improved CamShift algorithm.
In the improved CamShift algorithm, the size, position, and orientation of a color-patterned object to be tracked in an image can be simultaneously extracted using only the hardware implementation of a color histogram circuit module for calculating moment features of binary images quantized by 16 hue-based color bins.
By hardware-implementing color histogram circuit modules on a high-speed vision platform, IDP Express, the improved CamShift algorithm enables color histogram-based tracking at 2000 fps for 512×511 pixel images in real time. By installing our tracking system on a two-axis mechanical active vision system, we demonstrate the effectiveness of 2000 fps color-histogram-based tracking by performing several experiments of color-patterned objects, which are always tracked in the camera views even when they move rapidly under complicated backgrounds.
![Algorithm](https://robotics.hiroshima-u.ac.jp/wp/assets/images/vision_sensing/color_hist/algorithm.jpg)
By hardware-implementing color histogram circuit modules on a high-speed vision platform, IDP Express, the improved CamShift algorithm enables color histogram-based tracking at 2000 fps for 512×511 pixel images in real time. By installing our tracking system on a two-axis mechanical active vision system, we demonstrate the effectiveness of 2000 fps color-histogram-based tracking by performing several experiments of color-patterned objects, which are always tracked in the camera views even when they move rapidly under complicated backgrounds.
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WMV movie(0.9M) tracking of a rotating color-pattern |
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WMV movie(4.3M) tracking of a human hand |
Reference
- Idaku Ishii, Tetsuro Tatebe, Qingyi Gu, and Takeshi Takaki : Color-Histogram-Based Tracking at 2000 fps, Journal of Electronic Imaging, 21, 013010 (2012)
- Idaku Ishii, Tetsuro Tatebe, Qingyi Gu, and Takeshi Takaki : 2000 fps Real-time Target Tracking Vision System Based on Color Histogram, Proc. SPIE-IS&T Electronics Imaging 2011 meeting, Vol.7871, 787103, 2011.