Real-time color stereo vision system for a mobile robot based on field multiplexing
Real-time color stereo vision system for a mobile robot based on field multiplexing
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基于场复用的移动机器人实时彩色立体视觉系统
DOI：
10.1109/robot.1997.619071
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
Y. Matsumoto;T. Shibata;K. Sakai;M. Inaba;H. Inoue
本文讨论了一种在单块视觉处理板上处理彩色和单色立体视频信号的立体视觉处理系统。这里，我们提出了一种用于多路视频信号多路复用的“场混合”技术。基于该技术开发了一种适用于移动机器人的紧凑型彩色立体视觉系统。该系统可以同时处理多路视频信号，实现了灵活的彩色立体视觉处理。为了验证该视觉系统的可行性，我们将其安装在移动机器人上，实现了一种基于相关性的EZDF方法对目标进行立体跟踪。给出了跟踪的实验结果。
This paper discusses a stereo vision processing system which processes color and monochrome stereo video signals on a single vision processing board. Here, we propose a "field mixing" technique for multiplexing multiple video signals. A compact color stereo vision system based on this technique is developed for a mobile robot. This system can process multiple video signals simultaneously, and realizes flexible color stereo vision processing. In order to show the feasibility of this vision system, we installed it on our mobile robot, and implemented a correlation-based EZDF method for stereo tracking of an object. The experimental result of the tracking is shown.