Mobile robot vision system based on linear structured light and DSP

Abstract

The mobile robot vision system is composed of linear structured light generator, CMOS camera and image processor based on DSP TMS320DM642. We use digital signal processor to design the vision processing system because of its high-speed performance and low power consumption. In this paper, a new coordinates establishing method based on linear structured light vision system is proposed to simplify the calibration. With the image processing algorithm, we can detect the change of linear structured light per frame, compare with the standard image to reach a conclusion that whether there is an obstacle and calculate the characteristic value of the obstacle.