Robot Vision System Based on Log-Polar Image Plane Coordinates

基于对数极像平面坐标的机器人视觉系统

• 批准号: 9122204
• 负责人: Carl F. Weiman
• 金额: $ 25万
• 依托单位: Transitions Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-10-01 至 1994-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9122204&HistoricalAwards=false
• 关键词: Robot; Vision; System; Based; Log

The objective of this SBIR Phase II project is to design and build a dynamic camera control system and processing hardware to exercise high performance real time vision algorithms. High performance is based on reformulating algorithms in log-polar image plane coordinates, which significantly reduces pixel count and computations per pixel. Capabilities of this system will include depth perception based on binocular stereo and optic flow in dynamic environments. This system can be duplicated as a testbed for vision researchers. The binocular camera motion head will be available as a self-contained module which can be attached to any processing architecture. Phase I has demonstrated a complete spectrum of image processing algorithms formulated in log-polar coordinates, proving the feasibility and efficiency of such a system. Orders-of magnitude reduction in computational requirements suggest dramatic benefits for robot vision in general and mobile robots in particular. The proposed technology could improve the cost/performance ration for robot vision systems by several order of magnitude. This opens commercial niches unattainable by conventional Cartesian coordinate based computer vision. Markets include autonomous floor cleaners, transporters, security robots, and service robots.

这个SBIR二期项目的目标是设计和构建一个动态相机控制系统和处理硬件，以练习高性能的实时视觉算法。高性能是基于在对数极坐标图像平面中重新制定算法，这显著减少了像素数量和每像素的计算量。该系统的能力将包括基于双目立体和动态环境中的光流的深度感知。该系统可作为视觉研究人员的试验床。双目摄像机运动头将作为一个独立的模块提供，可以连接到任何处理架构上。第一阶段演示了在对数极坐标下形成的完整的图像处理算法，证明了这种系统的可行性和有效性。计算需求的数量级减少表明，总体上对机器人视觉，特别是对移动机器人来说，具有巨大的好处。该技术可以使机器人视觉系统的性价比提高几个数量级。这打开了传统的基于笛卡尔坐标的计算机视觉无法达到的商业利基。市场包括自动地板清洁机、运输机、安全机器人和服务机器人。