| Video image is an important way for mobile robot to obtain environmental information, its transmission and performance affect the quality of work for robot operator. Unlike ordinary video transmission, video transmission on mobile robot faces the constraint of wireless transmission bandwidth, especially the real time video on condition of low bandwidth in relation to engineering practicability of mobile robot. This paper begin the work about video acquisition, video transmission, and low power video image processing on mobile robot, searching for a effective method to the video tansmission for mobile robot. The specific method is as follows.Firstly, combined with the characteristics of the mobile robot, designed embedded video transmission system, and carryed out the performance testing. About implementation, using ARM and embedded Linux to building the foundation platform; using V4L2 interface to develop video acquisition function; using UDP socket interface to develop video server program, realize the video transmission function based on the MJPEG. And through experiment testing to verify the validity of video transmission method in this paper.Secondly, because of mobile robots are faced with the problem like amount of data, bandwidth, instantaneity, and so on, video image processing method based on compressed sensing is studied in this paper. Puting forword a method of distributed compressive video sensing to reduce reconstruction time by key frames and non-critical frame joint reconstruction. On the basis of orthogonal matching pursuit, this paper put forword an improved algorithm by block optimization. The simulation results verify that the method in this paper have advantages on video processing, such as good image reconstruction effect and low computational overhead. It provides a good theoretical basis for the video transmission system application of mobile robot. |
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