CN1444010A - Double-channel image information positioning processing method and system - Google Patents

Abstract

The double-channel location processing system based on CMOS camera chip is formed from CMOS camera chip, lens, signal conversion circuit, programmable control circuit, DSP (digital signal processor) processing chip hardwares and correspondent control processing software. It utilizes the double-channel visual information of same target to make simultaneous processing to implement the function of extractnig location information of relative target. According to the requirements said system can be integrated on an integrated circuit board or integrated on a large chip by means of customized (ASIC, special-purpose integrated circuit) chip.

Description

Two-way image information location processing method and system

Technical field:

The present invention relates to technical field of information processing, particularly two-way image information location processing method and system.

Background technology:

Along with progress of science and technology, mode identification technology and computer vision technique have had significant progress, utilize technology that dual vision information positions, finds range target comparative maturity, the actual example that uses also illustrated by binocular vision position, work such as range finding is practicable.The initial alignment of system, error correction etc. also have proven technique.But present technology mostly is to adopt the CCD imaging device, use ccd video camera to realize the function of image acquisition, because self there is the cost height in the ccd image collecting device, defectives such as volume is big, so, utilize ccd video camera to realize the system of dual vision, ubiquity system complex, problems such as integrated level is low, thus limited the application widely of this technology.

Summary of the invention:

The objective of the invention is to overcome the above-mentioned defective of prior art, a kind of method and system of utilizing dual vision information that target is positioned, finds range are provided, adopt the CMOS vision chip to gather the image information of destination object, after the opto-electronic conversion of chip own, become and read foolproof electric signal, simplify circuit design, the enhanced system reliability, image processing speed is fast, and volume is little.

Technical solution of the present invention is a kind of two-way image information location processing method and system thereof, method of the present invention is by the image information of imaging subsystems by two cameras difference acquisition targets, convert digital signal to, position processing through image processing subsystem again, show then, export, this method is to utilize the CMOS camera chip to realize the image information collection.

System of the present invention is an a kind of two-way image information localization process system, form by imaging collecting device, controller, storer, processor and peripheral interface circuit, connect two camera A, B and the special DSP processor that constitutes by the CMOS camera chip respectively by the FPGA controller, two CMOS chip camera A, B connect with storer separately, storer connects with dsp processor, dsp processor connects with interface circuit, forms two-way image information localization process system.

Description of drawings:

Fig. 1 is a two-way image information localization process system architecture block scheme

Embodiment:

The present invention further specifies as follows in conjunction with the embodiments referring to accompanying drawing: the CMOS vision chip is compared with the CCD imaging device, and the CMOS photoelectric sensor directly produces electric current (or voltage) signal after opto-electronic conversion, and signal reads very simple.Adopt the CMOS technology can simplify circuit design, shorten the construction cycle, the reliability of enhanced system.The CMOS photoelectric sensor just can take out electric signal when gathering light signal, can also handle the image information of each unit simultaneously, and speed is fast more a lot of than CCD.Simultaneously, the CMOS volume is little, and little power consumption has range of application widely than traditional CCD picture pick-up device.The development of large scale integrated circuit manufacturing technology also makes entire image processing part can be integrated in as much as possible on the circuit board, be specially adapted to some to the hardware volume requirement than higher field.

Two-way framing disposal route of the present invention and system utilize integrated to above technology, by the research to the dual vision positioning principle, designed a cover integrated level height, have demarcated convenient, the fast relative positioning information extracting system of processing speed.Can be widely used in robot vision, target search, workpiece location etc.Can also be used for embedded system etc., as the vision subsystem of some system.

Method of the present invention is that to utilize computer vision technique be that computer technology is combined with technology such as pattern-recognitions, by the resulting image of computing machine is carried out processing means such as figure image intensifying, feature extraction, pattern-recognition, obtain the spatial information of object, and then a kind of method of reconstruction of three-dimensional spatial model.In recent years, the dual vision technology has obtained deep research in this field, and application has widely been arranged.For example pass through two eyes of simulation, and utilize the correlation calculations depth information of the left and right view lap that is taken, finally determine the azimuth information of attention object.Its major technique comprises two aspects, and one is the space geometry relation between definite left and right view, and another one is exactly to seek the problem of pixel of the same name on left and right view.This has been made number of research projects both at home and abroad, the algorithm comparative maturity, practical effect is also relatively good, can satisfy the needs based on the two-way localization process system of CMOS chip.

For geometric parameters such as the position of calculating the three-dimensional environment object from the image pickup plane of two dimension, shapes, image capture device is must advanced rower fixed.The method of camera calibration has a lot, important is self-calibration technology and based on the demarcation of planar object.Self-calibration technology does not promptly need calibrated reference, only utilizes the image of camera surrounding environment in motion process and the corresponding relation between the image that camera is demarcated.Demarcation in the dual vision has different implementation methods according to concrete system's difference.

System of the present invention is made up of imaging collecting device, controller, storer, special DSP processor and peripheral interface circuit.The CMOS camera is the collecting device of image, according to the difference of environment for use, and the difference of real needs, can make a choice at aspects such as resolution, colors, the supporting with it camera lens that also has special use also needs to select according to actual conditions.Select the controller of FPGA for use, can control time shutter of CMOS camera, data transmission etc., to realize the synchronism of two cmos imaging chip image samplings, data transmission etc. as the cmos imaging chip.Storer is to be used for storing the image information of being gathered, and the space of exchanges data also is provided for detection algorithm simultaneously.DSP is the core component of total system, and it provides basic control signal, and utilizes integrated good algorithm that the image that collects is handled, to obtain the position of attention object, information such as distance.Interface circuit to the outside can be taked different modes, and is different as required, can adopt RS232, USB interface, 104 buses etc.A system by so just can handle interested target, obtains corresponding positional information at last.To System Hardware Requirement:

Aspect the hardware selection, mainly to consider the requirement of the following aspects based on the binocular vision localization process system of CMOS chip:

(1) choosing of CMOS vision chip: at present, the company that produces the CMOS vision chip has a lot, and also there is the ability of producing the CMOS vision chip in domestic part producer.The resolution aspect, U.S. Foveon, Inc. develop pixel jointly with American National Instrument Semiconductor Corp. and be up to 1,680 ten thousand cmos image sensor (ImageSensor), the frame rate aspect, Dalsa company has issued hypervelocity cmos image sensor (ultra high-speed CMOS Image Sensor), speed reached for 20,000 frame/seconds.So alternative kind is a lot.

(2) selection of FPGA: in system, what FPGA played is that each device is sent out control command, plays an effect of coordinating control.In whole localization process system, there is multiple bus structure (I ²The C bus, parallel bus etc.).Play the device of control action in the system, with CMOS and DSP communication the time, relate to various bus communication modes.FPGA can its structure of programmed configurations, just can finish the coordination of total system by monolithic FPGA, and the control peripheral interface is simple, is convenient to integrated.

(3) memory requirement: storer mainly is storage a view data that CMOS gathered, waits for that DSP reads to handle.The size of the view data that the size of memory span will be collected according to the CMOS chip, and the required storage space of Processing Algorithm is selected.

(4) selection of the selection of DSP: DSP is subject to processing the influence of algorithm, and the model of the at present general DSP that can develop has a lot, and processing speed by selecting suitable DSP, again in conjunction with ripe algorithm, can obtain satisfied detection effect also than comparatively fast.System integrated:

For simplied system structure with increase reliability, total system hardware, except that camera lens, all can adopt integrated circuit: both integrated chips of available separation also is to use large scale integrated circuit, is integrated on a bulk of chip with ASIC (special IC); Perhaps the winner of total system is fixed on the surface-mounted integrated circuit, and the plastic cement insulated enclosure solidifies.Can easily this system be installed on the various device like this, can also design the excuse with external unit easily, avoid the video acquisition work of using CCD picture pick-up device institute to carry out, directly processing digital signal is simple quick.System of the present invention forms structure below in conjunction with description of drawings:

The main composition of two-way image information localization process system, referring to accompanying drawing 1, two CMOS vision chips are imaging collecting devices among the figure, the geometric position between them is fixed, and can accurately measure, to carry out later demarcation.FPGA finishes the Control work to vision chip, and it carries out the control command that designs in advance according to the instruction that DSP sent out.Storer is used for the storage to captured image, handles for DSP and uses.DSP is the localization process core component, and it is reading of data from storer, finishes localization process work, and simultaneously, the working condition according to it sends instructions to FPGA, makes image acquisition and processing coordinate to carry out.Last part is external interface circuit, and is different according to actual needs, selects different interface modes.Range of application of the present invention is given an example:

Robot vision: robot is widely used in a lot of fields, has wherein used environmental information more and more.Based on the dual vision positioning system of CMOS chip just because of the degree of integration of total system than higher, so in the process of using, can be installed in the robot, finish the collecting work of site environment.A typical application is exactly a robot soccer game, when using distributed vision, because the restriction of Soccer robot own vol must be used this CMOS camera, just can meet the demands.

Target search: at some special dimension, may run into problem to some specific objective search, these targets are in color, obvious characteristics is perhaps arranged in shape, utilization can be relatively easy to finish location, range finding work to these specific objectives based on the two-way localization process system of CMOS chip.The visual information of environment can better be utilized.

Workpiece location: in the application of industrial automation, use after this binocular localization process system based on the CMOS chip, can realize that streamline is uploaded the workpiece that send to be discerned, obtain position and range information, form controlled variable, guide machinery and equipment to grasp the workpiece that needs from streamline.Because total system is simple in structure, the integrated level height, so can be a large amount of be applied to such commercial production field.

The advantage of two-way image information location processing method of the present invention and system is owing to adopted CMOS vision chip images acquired information to combine with computer technology, system architecture is simplified, but integrated level height, volume is little, processing speed is fast, applied range is specially adapted to some to the higher field of hardware volume requirement for restriction.

Claims (4)

1, a kind of two-way image information location processing method: its method is by the image information of imaging subsystems by two cameras difference acquisition targets, convert digital signal to, position processing through image processing subsystem again, show then, export, the feature of method is:

Utilize the CMOS camera chip to realize the image information collection.

2, a kind of two-way image information localization process system: form by imaging collecting device, controller, storer, processor and peripheral interface circuit, it is characterized in that connecting two camera A, B and the special DSP processor that constitutes by the CMOS camera chip respectively by the FPGA controller, two CMOS chip camera A, B connect with storer separately, storer connects with dsp processor, dsp processor connects with interface circuit, forms two-way image information localization process system.

3, two-way image information location processing method according to claim 1 is characterized in that the relative position information after the Flame Image Process of acquisition target, machine general-purpose interface output as calculated, and available liquid crystal display shows.

4, two-way image information localization process according to claim 2 system is characterized in that except that camera lens each hardware that system comprises can adopt integrated circuit: both integrated chips of available separation also can be large scale integrated circuit; Perhaps the fixed in hardware of total system is on a surface-mounted integrated circuit, and the plastic cement insulated enclosure solidifies.