摘要
针对传统的由图像采集卡和主控计算机构成的移动机器人视觉系统中存在的计算速度和功耗瓶颈问题,设计了一种基于数字信号处理器（DSP）和场可编程逻辑器件（FPGA）的智能图像采集卡和基于该智能图像采集卡的机器人视觉系统.该智能图像采集卡可以在完成图像采集工作的同时,通过FPGA和DSP高速处理图像数据,实时完成多种低层图像处理功能,在很大程度上减轻上位机的计算负担,使得在高性能机器人控制与传感系统中采用较低性能的上位机成为可能.实验结果表明,这种机器人视觉系统能够很好地满足移动机器人对运算速度和功耗的要求.
In view of the computing and power-consumption bottlenecks of the mobile robot vision system composed of an image grabber and a general CPU, this paper proposed an intelligent image capture card based on the digital signal processor （DSP） and the field programmable gate array （FPGA） and a mobile robot vision system based on the card. In order to complete image processing function in real-time and reduce the computing burden of the host computer, the card can process image data by FPGA and DSP at high speed when capturing images. This makes it possible to use a host computer with low capability to construct a high performance robot control and sensing system. The experiments show that the vision system can well meet mobile robots＇ requirements for computing speed and power consumption.
出处
《高技术通讯》
CAS
CSCD
北大核心
2007年第8期803-808,共6页
Chinese High Technology Letters
基金
863计划（2005AA420290,2006AA04Z242,2006AA04Z258）和中国科学院自动化研究所青年科技创新基金资助项目.
