Fundamental Study On Stereovision For Autonomous Cleaning Robot

According to the current research status about Autonomous Cleaning Robot and embedded system of stereovision at home and abroad, an applicable stereovision system for cleaning robot based on DSP is designed to improve its intelligence. It lays a foundation for the application of stereovision. The camera calibration technique on model plane is researched, and the method for camera calibration based on model plane of point array is designed to apply on the CMOS camera. It provides the solution for the calibration of CMOS camera without special lighting.Chapter 1 gives a survey of the state of Autonomous Cleaning Robot and embedded system of stereovision, details contents of this research project. Chapter 2 compares several image capturing and processing schemes and the system scheme is given. Chapter 3 describes the hardware structure and all the modules in details, including image sampling and processing, data storage and transmission, DSP and CPLD. In Chapter 4, the process of the system is provided, and the result of experiment is analyzed. Chapter 5, based on the specialty of CMOS image sensor, puts forward the solution for CMOS camera calibration through model plane of point array, in the end analyzes the error of the method.