Embedded omnidirectional ball vision object detection and mobile monitoring system and embedded omnidirectional ball vision object detection and mobile monitoring method
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A technology for target detection and mobile monitoring, applied in general control systems, control/regulation systems, photogrammetry/video surveying, etc.
Inactive Publication Date: 2009-10-21
TIANJIN UNIVERSITY OF TECHNOLOGY
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[0005] Omnidirectional spherical vision has a global field of view image, combined with the target detection function, it is very suitable for the monitor...
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Embodiment 1
[0054] Embodiment 1. Embedded omnidirectional spherical vision target detection and mobile monitoring system
[0055] Such as figure 2 As shown, the hardware architecture of the embedded omnidirectional vision target detection and mobile monitoring system mainly includes:
[0057] Including two FE185C046HA-1 fisheye lenses, with a 185° super wide angle, the two fisheye lenses are facing away from each other horizontally, and the optical axis coincides with each other, and can cover a 360°×360° global field of view; the image acquisition chip uses two MT9T001 MT9T001-type CMOS chips, independent of each other, connected to two fisheye panoramic lenses, and connected to SRAM memory chips through FPGA controller; two MT9T001-type CMOS chips are controlled by Cyclone IIC35 FPGA at the same time, used to collect two-way fisheye lens Image( Figure 5 );
[0062] Embodiment 2, Embedded Omnidirectional Spherical Vision Target Detection and Mobile Monitoring Method
[0063] The experimental steps and practical effects of the present invention are specifically described below with practical cases.
[0064] This example is based on two-color navigation aids navigation, and mainly completes a global domain vision acquisition, static two-color navigation aids tracking and dynamic target detection parallel processing, and an example of mobile monitoring of self-guided vehicles for vehicle body mobile navigation.
[0066] First, place the omnidirectional spherical vision monitoring system as described in Embodiment 1 on the top of the self-guided vehicle. Simultaneously capture images of the monitoring area by two fisheye panoramic lenses;
[0067] Second, collect the images of two fisheye panoramic lenses respectively by two CMOS image acquisition chips, and the col...
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Abstract
The invention relates to an embedded omnidirectional ball vision object detection and mobile monitoring system and an embedded omnidirectional ball vision object detection and mobile monitoring method. Omnidirectional ball vision is a visual system with a global domain visual field and can acquire all scenes of the whole global domain at one time without the revolving and scanning of a camera. The system comprises an omnidirectional ball vision imaging system (comprising two fish-eye panoramic lens, two CMOS image acquisition chips, an FPGA controller and an SRAM memory chip), and a multi-path DSP parallel image processor (comprising a master control DSP and two paths of DSP parallel image processors). The imaging system acquires omnidirectional ball vision images by matching the two fish-eye panoramic lens and the two CMOS chips, wherein the master control DSP is responsible for data scheduling and communication, and the two paths of the parallel DSPs are independent from each other and can process the identification tracking of a static navigation mark and the real-time monitoring of a dynamic object in parallel. The method and the system have the advantages of high integrity, small volume and quick processing speed and are particularly suitable in the military or domestic field such as safety monitoring, mobile vehicle body navigation and the like.
Description
【Technical field】: [0001] The invention belongs to the technical field of embedded image processing, in particular to an embedded omnidirectional spherical vision movement detection system and method. 【Background technique】: [0002] The current panoramic image acquisition generally adopts the following two technologies: (1) multiple sampling stitching of a single lens; (2) image acquisition of a curved lens or a mirror reflection lens. The former image stitching method has a large amount of raw data and complex algorithms. Generally, it can only do static image stitching and cannot complete real-time imaging. However, the unconventional lens method can only collect one hemispherical image, and it is impossible to achieve real-time collection of "no dead angle" in the real global domain. Most of the global camera systems that appear in the future adopt the form of multiple cameras with more than four or five lenses, such as the six-lens Ladybug panoramic video acquisition s...
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