Development Of Hand-Eye Vision System Based On TMS320DM642

The hand-eye vision is used to provide the image information of object and measure the position and orientation of object, which is very important for the space robot to capture the objects. After the features of all kinds of hand-eye vision system are compared, a hand-eye vision system is developed with a DSP evaluation module -TMS320DM642 in this paper. Utilizing this system, we succeed in capturing images, calibrating the camera and measuring the position and orientation of objects.Firstly, the hardware of the system is introduced in this paper. It includes an image capture module, a DSP processing module and an image display module. Secondly, the software of the system is present. It includes a monitor module, an initialization module, an image acquisition and display module, a camera calibration module, and a position and orientation measurement module. Finally, an experimental system consisting of a TMS320DM642, a CCD camera, a PC and a beeline guide is set up to make the hand-eye vision experiments including the image acquisition, image processing and display, camera calibration, and position and orientation measurement. The experimental results show that the system can meet the requirement of the position and orientation measurement.