Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-accelerated CNNs
Felix Hundhausen,Raphael Grimm,Leon Stieber,Tamim Asfour,Felix Hundhausen,Raphael Grimm,Leon Stieber,Tamim Asfour
We present a soft humanoid hand with in-finger integrated cameras and in-hand real-time image processing system for fast reactive grasping. Specifically, we describe an FPGA-based, in-hand integrated, embedded system for processing visual data captured by the five in-finger cameras while avoiding high bandwidth raw data streaming via the robots real-time data bus. The hardware acceleration allows ...
