The high-speed reactive range finder based on activity control of a photography image element

在计算机视觉的研究中，它将给计算机带来与人类一样灵活的视觉，有许多领域要求具有成果时间性质。例如，通过视觉传感器对机器人的运动进行反馈控制的视觉反馈是表示的例子。为了实现这种结果时间性质，测量所需的时间和其重复速度是很大的问题。然而，由于计算机视觉研究通常使用的摄像机大多是符合NTSC标准的CCD摄像机，因此存在测量速度被限制在30帧/秒的问题。另一方面，还有通过简化和提高测量技术的效率来提高速度的技术。虽然主动视觉是根据目的主动获取所需信息的观点，各种控制相机位置和拍摄方向的系统都是最优的，但照片人像元素被视为…更多的是仍然持续发送固定速度和分辨率的图像的设备，而不能说它是优化的。然后，将该观点应用于人像元件，提出了在保证测量精度的前提下，通过主动控制人像元件，只读取所需的图像信息来提高测量速度的方法。在本研究中，为了证明这种观点的有效性，使用了可以随机访问像素的CMOS图像传感器，以及集成了一针处理电路的照片人像元件和高效的照片人像元件。对测量方法进行了验证，同时通过对被反射镜偏转的激光进行CMOS型图像传感器的活动控制，使照相领域跟随，验证了高速测量的可行性。其次，验证了利用高效的照片人像元件获取ID和发光二级管标记位置的技术。该传感器在针尖上的处理电路中执行图像处理，它不仅通过控制照片肖像元件减少了处理的数据量，而且它可以在高速下测量。通过该传感器的使用，验证了未实现用IrDA获取ID的方法，可以同时高速采集两个或多个标记物和一个位置的ID。摄影影像较少

In research of the computer vision which is going to give the same flexible vision as man to a computer, there are many fields asked for fruit time nature. For example, the visual feedback which carries out feedback control of the motion of a robot by the vision sensor is the example of representation. In order to realize such fruit time nature, time required for measurement and its repetition speed are very big problems. However, since most cameras usually used by computer vision research were CCD cameras of NTSC conformity, there was a problem that measurement speed was restricted to 30 frames/sec. There is also the technique of on the other hand raising rapidity by simplifying and increasing the efficiency of the measurement technique. Although active vision is the view of acquiring required information actively according to the purpose and various systems which control the position and photography direction of a camera the optimal are proposed, the photo portrait element is treated … More as equipment which still always continues sending the picture of fixed speed and resolution, and cannot say that it is optimized. Then, this view was applied to the photo portrait element and it proposed about the method of raising measurement speed by controlling a photo portrait element actively and reading only required image information, with measurement accuracy maintained. In this research, in order to show the validity of such a view, the CMOS image sensor in which the random access of a pixel is possible, and a photo portrait element and the highly efficient photo portrait element which integrated the processing circuit for one tip were used. It verified about the method of measuring, while making a photography domain follow by carrying out activity control of the CMOS image sensor to the laser light first deflected by the mirror, and checked that high-speed measurement was realizable. Next, it verified about the technique of acquiring ID and the position of the Light Emitting Diode marker using the highly efficient photo portrait element. This sensor is performing image processing in the processing circuit on a tip, and it not only decreases the amount of data processed by controlling a photo portrait element, but it is measurable at high speed. By using this sensor, it checked that the method of acquiring ID by IrDA has not been realized, and acquisition of ID of two or more markers and a position could be performed at high speed simultaneously. Photography image Less