Research and development on embedded omnidirectional vision tracker for vision navigation

Junchao Zhu; Weijia Feng; Zuoliang Cao

doi:10.1117/12.837893

24 November 2009 Research and development on embedded omnidirectional vision tracker for vision navigation

Junchao Zhu, Weijia Feng, Zuoliang Cao

Proceedings Volume 7513, 2009 International Conference on Optical Instruments and Technology: Optoelectronic Imaging and Process Technology; 75131T (2009) https://doi.org/10.1117/12.837893
Event: International Conference on Optical Instrumentation and Technology, 2009, Shanghai, China

Abstract

Omni-directional vision appears the definite significance since its advantage of acquiring all vision information simultaneously. In this paper, an integrated omni-directional vision tracker based on the configuration with CMOS, FPGA and DSP has been implemented. Fisheye lens is one of the most efficient ways to establish omni-directional vision systems, however, it appear with an unavoidable inherent distortion. An imaging system model which consists of fisheye-lens and the embedded tracker has been proposed. A novel beacon owning the feature of particular topology shape can be identified by the appropriative recognition processes. Particle filter has been programmed as an intersectional arithmetic structure which processes the same step of several particle filters simultaneously. We called it as Multiple Intersection Particle Filter. MIPF makes multi-targets tracking efficiently and successfully on embedded platform. A rectification technique based on equidistant projection theorem is used for correction some distorted image point. The localization method just employs the picture position of two objects to estimate the space position and orientation for AGV. After target recognition, vision tracking, rectification, and object positioning functions actualized on the embedded omni-directional vision tracker, autonomous navigation has been demonstrated on experimental AGV.

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Junchao Zhu, Weijia Feng, and Zuoliang Cao "Research and development on embedded omnidirectional vision tracker for vision navigation", Proc. SPIE 7513, 2009 International Conference on Optical Instruments and Technology: Optoelectronic Imaging and Process Technology, 75131T (24 November 2009); https://doi.org/10.1117/12.837893

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KEYWORDS

Digital signal processing

Particle filters

Particles

Field programmable gate arrays

Image processing

Imaging systems

Calibration

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