iRov: A Robot Platform for Active Vision Research and as Education Tool
This paper introduces an autonomous camera-equipped robot platform for active vision research and as an education tool. Due to recent progress in electronics and computing power, in control and agent technology, and in computer vision and machine learning, the realization of an autonomous robots platform capable of solving high-level deliberate tasks in natural environments can be achieved. We used iPhone 4 technologies with Lego NXT to build a mobile robot called the iRov. iRov is a desk-top size robot that can perform image processing onboard utilizing the A4 chip which is a System-on-a-Chip (SoC) in the iPhone 4. With the CPU and the GPU processors working in parallel, we demonstrate real-time filters and 3D object recognition. Using this platform, the processing speed was 10 times faster than using the CPU alone.
KeywordsMobile Robot Education Tool Active Vision Robot Platform Robot Vision
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