DocumentCode :
2409009
Title :
The corner detection for a mobile robot of power lines
Author :
Zuo, Qi ; Guo, Zi Jian ; Xu, De
Author_Institution :
Field Bus Tech & Autom. Key Lab., North China Univ. of Technol., Beijing, China
fYear :
2009
fDate :
15-16 May 2009
Firstpage :
333
Lastpage :
336
Abstract :
This paper put forwards a corner detection solution and develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the corner detection algorithm. Through the extended UART interfaces, this system can communicate with mobile robots of power lines. Corner coordinates obtained from the algorithm of this system can be used for extraction and matching of the image feature points, motion estimation, three-dimensional reconstruction, etc. Compared to the traditional vision system based on image capturing cards and PC platforms, it has the advantages of small size, favourable real-time properties, low power consumption, etc. Experiment results indicate that the precision and speed of corner extraction are both better than those of the traditional PC platforms.
Keywords :
computer interfaces; computer vision; edge detection; feature extraction; image matching; image reconstruction; mobile robots; motion estimation; robot vision; UART interface; corner detection algorithm; image feature point extraction; image matching; image reconstruction; mobile robot; motion estimation; power lines; vision system; Autocorrelation; Detection algorithms; Displays; Image edge detection; Machine vision; Mechatronics; Mobile robots; Paper technology; Pixel; Robotics and automation; Corner detector; dsp; harris algorithm; robot of power lines;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Mechatronics and Automation, 2009. ICIMA 2009. International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-3817-4
Type :
conf
DOI :
10.1109/ICIMA.2009.5156629
Filename :
5156629
Link To Document :
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