基于嵌入式的机器人视觉伺服寻迹系统研究-An embedded system for autonomous collision avoidance.pdf

Proceedings of the IEEE Intelligent Vehicles Symposium 2000 Dearborn (MI), USA October 3-5, 2000 An embedded system for autonomous collision avoidance and line tracking using artificial CMOS retina sensor Haitao LI Samir BOUAZIZ Francis DEVOS Institut dElectronique Fondamentale Universite Paris-sud, Bat. 220 91405 ORSAY, France 1iGlief.u-psud.fr bs0ief.u-psud.fr devos@,ief.u-psud.fr Abstract 2 SYSTEM DESCRIPTION In Intelligent vehicle research domain, imageprocessing focus ofien on the post-treatment. Real-time image 2.1 The mechanical part :Minicar processing needs a lot of computing. Complicated The Minicar, shown in figure 1, is a 1/5 scaled model car. algorithms are always a challenge for any powerful It is equipped with a radio receptor, one servo for computation system. Thisproblem is often the bottle neck direction control and an electrical motor for speed control of system speed. By means of CMOS technology, some ( through motor controller). popular image algorithms are implemented at the hardware level. The retina sensor is a CMOS circuit including the image sensor part and some hardware implementation algorithms. Our system is based on two artificial multi-mode programmable retina sensors. These retinas are a CMOS image sensors developed at IEF and INT institutes (Institut dElectronique Fondamentale (IEF), Universitk Paris XI, Orsay-France, and Institut National de TLlLcommunications Evry