一种拟全方位多尺度分布式视觉系统

Pseudo-omnidirectional and distributed multi-scale vision system

针对机器人视觉系统中算法的高复杂度与实时性难以兼顾的问题,设计了一种拟全方位多尺度分布式视觉系统。该系统实现了多个摄像机图像采集和处理的分布式工作,可以满足机器人对视野的全方位要求,并且为高复杂度算法的运行提供了可能。采集处理模块软硬件可随时定制,实现了多尺度的视觉算法,并增加了系统的灵活性和通用性。该系统可作为通用视觉平台应用于各种全自主移动机器人,具有较强的应用价值。

A pseudo-omnidirectional and distributed multi-scale vision system is designed in view of the difficulty in meeting the demands of the real time and high complexity of the algorithms simultaneously. In this system, in order to get omnidirectional view of surroundings and achieve high real-time property, multiple cameras are equipped and the images sampled from these cameras can be parallelly processed by DSP. At the same time, software and hardware in the grabber can be customized at any moment so that multi-scale algorithms can be implemented in the system. The vision system can be used as a general platform for autonomous mobile robot.