基于嵌入式的机器人视觉伺服寻迹系统研究-a fast and robust vision system for autonomous mobile robots.pdf

Proceedings of the 2003 IEEE International Conference on Robotics,Intelligent Systems and Signal Processing Changsha, China - October 2003 A Fast and Robust Vision System for Autonomous Mobile Robots ZHANG Hai-bo, YUAN Kui, LrU Jin-dong Institute of Automation, Chinese Academy of Sciences, Beijing 100080,China E-mail: haibo.zhang@mail.ia.ac.cn Abstract can satisfy the needs of both robustness and efficiency is still very difficult. Computer vision system is an important sensor for autonomous mobile robot. Howeve6 the design of a vision To develop a practical vision system, the emphasis of our system that can satisfy the needs of both robustness and work is on speed (25 Framesisec) and robustness for low eflciency is still dtficult. In this paper, afast and robust level processing tasks, so as to maximize the available vision system is described which increases its speed and time for high level decision making processes. Since robusmess through choosing suitable color space, computationally expensive techniques are inapplicable, algorithms of mathematical morphology and active