Mobile robot vision system based on linear structured light and DSP

Author

Wei, Boyu ; Fan, Ying ; Gao, Baoquan

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1285

Lastpage

1290

Abstract

The mobile robot vision system is composed of linear structured light generator, CMOS camera and image processor based on DSP TMS320DM642. We use digital signal processor to design the vision processing system because of its high-speed performance and low power consumption. In this paper, a new coordinates establishing method based on linear structured light vision system is proposed to simplify the calibration. With the image processing algorithm, we can detect the change of linear structured light per frame, compare with the standard image to reach a conclusion that whether there is an obstacle and calculate the characteristic value of the obstacle.

Keywords

CMOS image sensors; digital signal processing chips; image processing equipment; mobile robots; robot vision; CMOS camera; DSP TMS320DM642; DSP based image processor; coordinates establishing method; linear structured light generator; mobile robot vision system; CMOS image sensors; CMOS process; Cameras; Digital signal processing; Digital signal processors; Energy consumption; Machine vision; Process design; Robot vision systems; Signal design; DSP TMS320DM642; Mobile robot; linear structured light; vision system;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246792

Filename

5246792