Real Time 3D Robot Vision System based on Local Correlation Methods

我们成功地开发了基于局部相关图像处理技术的实时三维机器人视觉系统。视觉系统提供了机器人视觉的基本功能；实时目标跟踪，运动检测和深度图生成。虽然局部相关方法计算量大，但我们最初开发的视觉系统使用了专门用于图像压缩的LSI（运动估计处理器）芯片。该系统由多个可视单元板组成，其中有一个通用处理器和专用的大规模集成电路。当图像被广播到多个视觉单元时，系统可以对图像进行并行处理。在每个单元中，可以根据局部窗口的块匹配方法计算运动检测和运动跟踪。视觉系统的应用包括：三维物体跟踪，即使物体转动，光流生成，立体匹配，深度图生成。通过彩色装饰板的显影，将该系统扩展到接受彩色图像。颜色信息增强了视觉系统的鲁棒性，可以很好地识别局部窗口的可跟踪性。我们已经将视觉系统应用于多个机器人应用，包括自主移动汽车导航、实时视觉伺服、基于视觉的移动机器人运动制导、机械手和有腿机器人。

We have succeeded to develop the real-time three dimensional robot vision systembased on local correlation image processing technique.The vision system provides the essential functions of robot vision ; real-time object tracking, motion detection and depth map generation.Although the local correlation method is heavy calculation, the vision system we have originally developed uses a special LSI (Motion Estimation Processor) chip which is designed for image compression.The system consists of multiple visual unit board which has a general processor and the special LSI.As the image is broadcasted into the multiple visual units, the system can perform to process the image in parallel. In each unit, it is possible to calculation motion detection and motion tracking based on the block matching method of local windows.The application of the vision system includes, three dimensional object tracking, even if the object turned, optical flow generation, stereo matching, and depthmap generation.The system is extended to accept color images by developing color decording board. The color information put the vision system robustness for veryfying the trackability of the local windows.We have applied the vision system to several robotic application, including autonomous mobile car navigation, real time visual servoing, vision based motion guidance of mobile robot, manipulators and legged robots.