HDR camera applied to field of mobile robot outdoor SLAM
A mobile robot and camera technology, applied to color TV parts, TV system parts, TVs, etc., can solve problems such as motion blur and insufficient camera light latitude, achieve high dynamic range, reduce exposure time, The effect of improving accuracy
Active Publication Date: 2020-02-14
SOUTH CHINA AGRI UNIV
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Problems solved by technology
[0003] The purpose of the present invention is to provide an HDR camera used in the outdoor SLAM field of mobile robots, which is mainly used to solve the problems of insufficient light latitude of traditional cameras and motion blur in HDR mode
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[0025] The invention discloses an HDR camera used in the field of outdoor SLAM of mobile robots, comprising a PCB substrate 5, N groups of optical imaging lenses 1, N pieces of CMOS photosensitive chips 6, FPGA chips 7 and a lens base 2, wherein:
[0026] The N slices of CMOS photosensitive chips 6 are symmetrically distributed on the PCB substrate 5, the front side of the lens base 2 is provided with a boss 3, and the rear side is provided with N darkrooms 9 independent of each other. The bottom of the darkroom 9 is provided with a fixing hole 4 passing through the boss 3 toward the front of the lens base 2, and the N groups of optical imaging lenses 1 are respectively installed in the fixing holes 4;
[0027] The lens base 2 is fixed on the PCB substrate 5, so that each CMOS photosensitive chip 6 is located in a dark room 9, and each CMOS photosensitive chip 6 is in a closed environment at this time, and each of the fixing holes 4 is facing a CMOS photosensitive chip 6, so t...
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The invention discloses an HDR camera applied to the field of mobile robot outdoor SLAM. The HDR camera comprises a PCB substrate, N groups of optical imaging lenses, N CMOS photosensitive chips, an FPGA chip and a lens base; the N CMOS photosensitive chips are symmetrically distributed on the PCB substrate, N darkrooms which are mutually independent are formed in the rear side surface of the lensbase, fixing holes are formed from the bottom of each darkroom to the front of the lens base, and the N groups of optical imaging lenses are respectively arranged in the fixing holes; the lens base is fixed on the PCB substrate, so that each CMOS photosensitive chip is positioned in one darkroom, and each fixing hole is aligned to one CMOS photosensitive chip; the N CMOS photosensitive chips areconnected to the FPGA chip through the PCB substrate, and the FPGA chip is used for acquiring images acquired by the CMOS photosensitive chips and synthesizing images in a high dynamic range. According to the invention, the images under different exposure parameters are acquired in a multi-CMOS simultaneous exposure mode to synthesize the HDR image, and compared with the traditional HDR imaging mode, the overall exposure time can be reduced, and the image smear phenomenon is reduced.
Description
technical field [0001] The invention relates to the field of mobile robot positioning and navigation, in particular to a high dynamic range imaging (HDR) camera used in the field of outdoor simultaneous localization and map building (SLAM) of mobile robots. Background technique [0002] Image-based localization algorithm is a hot issue in the field of autonomous mobile robots, and it is a prerequisite for solving the motion planning and control of mobile robots. Image-based Simultaneous Localization and Mapping (SLAM) can recover the map of the environment while estimating the robot's own pose by analyzing the image sequence in an unknown environment. Because this technology only relies on the image sensor of the robot itself, it does not require environmental modification and manual marking, and the camera has advantages such as low cost, so SLAM technology has received widespread attention at home and abroad. The sensor that visual SLAM mainly relies on is the camera, so ...
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Login to View More IPC IPC(8): H04N5/235H04N5/355
CPCH04N23/73H04N23/741H04N25/58
Inventor 吕恩利王飞仁王昱夏晶晶丘广俊余乔东罗毅智李斌
Owner SOUTH CHINA AGRI UNIV