基于嵌入式的机器人视觉伺服寻迹系统研究-Cost Effective Vision System for Mobile Robots.pdf

Cost Effective Vision System for Mobile Robots Juan F. Martin, Luciano Chiang ´ Pontificia Universidad Catolica de Chile ´ ´ ´ Departamento de Ingenierıa Mecanica y Metalurgica ˜ Avenida Vicuna Mackenna 4860, Santiago, Chile jfmartin@puc.cl , lchiang@ing.puc.cl Abstract taking advantage of special hardware or domain knowledge in very specific software systems [4]. As technology im- A web-cam based vision system for performing image proves itself, truly inexpensive possibilities emerge and set p rocessing in real time in a restricted environment is p re- new challenges for research. Instead of integrating a 3CCD sented. A color based image segmentation algorithm is the color camera, DSP based frame grabber and other special fundamental part of the system. Algorithm effi ciency was hardware [15], the real-time vision problem was faced us- very important due to hardware limitations. This led to a ing a consumer-end web-cam (U$ 40). It is directly plugged simple and cost-effective vision system that is able to de- into a Pentium III desktop computer through a USB 1.1 con- tect and identify several mobile robots through successive nection, which means that even the frame gr