DSP-based omnidirectional visual sense processing system

Abstract

Disclosed in the invention is a DSP-based omnidirectional visual sense processing system. On the basis of a design for omnidirectional imaging of a robot, the system is composed of an omnidirectional vision sensor, a CCD camera, and a DSP digital image processing system. Environment information (light) passes through the omnidirectional vision sensor firstly and is reflected by the mirror surface of the omnidirectional vision sensor; and because of utilization of the omnidirectional vision sensor with a hyperbola rotator, the light is emitted to another focus of hyperbola and the optic center of the camera is just located at another focus of the hyperbola, so that the external scenery can be imaged on the camera. The DSP digital image processing system collects the image to an SRAM of a digital image collection system after SAA711AHZ analog-to-digital conversion; the DSP carries out image pretreatment and image resolving on the image and then stores the processed image to an SDRAM; and the processed image in the SDRAM or the original image in the SRAM can be transmitted to a robot PC104 through an RS232I/O port of the DSP digital image processing system by programming. And the robot PC104 carries out robot positioning, target identification and tracking, obstacle avoidance, and path planning and the like based on the received image.

Description

technical field [0001] The invention relates to an image processing system, in particular to an omnidirectional vision processing system using a digital signal processor. Background technique [0002] Robot vision mainly studies the use of computers or other digital systems to simulate human visual functions, extracts information from videos or images of objective things, processes and understands them, and finally uses them in actual detection, measurement and control. A typical robot vision application system includes light source, optical system, image capture system, image digitization module, digital image processing module, intelligent judgment decision-making module and mechanical control execution module. First, use a CCD camera or other image capture device to convert the target into an image signal, and then convert it into a digital signal and send it to a dedicated image processing system. According to information such as pixel distribution, brightness and color,...

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