Research On Panorama Stitching And Moving Target Location Inspired Of Compound Eyes

The compound eyes of insects consist of thousands of ommatidia, which insure their ability to image in a large field of view(FOV) and efficiently estimate the location of obstacles or predators during flight. These characteristics have been widely applied in several research fields, such as robot visual navigation, machine vision and panoramic monitoring system.Inspired of compound eyes’ biological and physical mechanism, we built a fast location estimation algorithm with high real-time and large FOV. The details are followed.Established a new position estimation method of fast-moving target. To solve the real-time problem exists in visual localization methods, a fast location estimation algorithm was proposed here, utilizing the overlapping of the field of view of adjacent detector units. The encoding of the signals detected by visual units array represents the location of a moving target in work area. By computer simulation, several targets in different sizes moving along different trajectories were detected in front of a detector array. The comparison between the estimated and the theoretical location of the target showed its minor systematical error, which suggested the feasibility of this location estimation algorithm.Designed an image acquisition system with high-definition and large FOV. The realization of traditional image acquisition system with FOV of USB cameras is at the sacrifice of reduction of resolution, synchronous or real-time. To improve the system synchronization and real-time characteris- tic, a distributed architecture of client/serve(C/S) was used, on the basis of keeping the resolution of the USB camera. On client side, the embedded system of image acquisition achieved in a rate of 10 fps in image acquisition, using technology of multi-threaded control and USB transport protocol. On C/S side, the technology of TCP/IP protocol was used to prove imaging synchronism in 10 ms.Analyzed the mechanism of high-resolution panoramic image acquisition system imitation of compound eye. Rhabdom’s different functions in motion-sensitive or space-sensitive, made compound eye has ability in large FOV and fast location of obstacles. Base on the characteristics, a method of large FOV low resolution moving detection and high-resolution panoramic imaging was promosed. And it was proved by ways of image fusion and image stitching...