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研究生： 陳浥菁
Chen, Yi-Jing
論文名稱： 自走車DSP嵌入式影像系統之實現
A DSP-based Imaging System for a Mobile Robot
指導教授： 周榮華
Chou, Jung-Hua
學位類別： 碩士
Master
系所名稱： 工學院 - 工程科學系
Department of Engineering Science
論文出版年： 2006
畢業學年度： 94
語文別： 英文
論文頁數： 73
中文關鍵詞： 影像處理 、CMOS影像感測器 、數位信號處理器 、視覺系統 、嵌入式系統
外文關鍵詞： CMOS image sensor, digital image processing, DSP, embedded system, vision system
相關次數： 點閱：128  下載：7 
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    • 　　在現實環境中，行動機器人需要接收外界的資訊以做出相對應的決策與反應，因此機器人需裝配各式感測器及系統以接收並解讀外界資訊。其中裝載於機器人上的視覺系統可以將外界的影像資訊傳回機器人系統核心進行影像處理及解讀，可將之應用在各種不同的需求上。

    　　本文旨在於發展一個基於DSP處理器的嵌入式彩色影像系統，並將之整合於行動機器人上。在硬體實現方面，本系統包含以CMOS彩色影像感測器PAS202BCA及圖框緩衝器所構成之附加子板做為影像擷取之前端模組，並以TMS320C6713 DSP為核心之DSK(DSP Starter Kit)發展板做為影像處理平台。在軟體實現方面，則包含系統時序控制、介面控制和影像前處理技術以得到品質優良的彩色影像。最後並將此系統整合在行動機器人上，可辨識紅綠燈的燈號顏色，或是偵測手掌移動方向，利用手掌的揮動控制機器人的行進動作。

    　　A mobile robot in real world needs to obtain environment information for its actions and response. Therefore, a mobile robot generally equips specific sensors to acquire environment information. In particular, the vision system is able to capture environment images, act as the robot's eye, and is able to be applied for different applications.

    　　The objective of this thesis is to develop a DSP-based embedded imaging system for a mobile robot. The implementation of the system consists of hardware implementation and software implementation. For the hardware implementation, the embedded imaging system is composed of a TMS320C6713 DSK board as the image process platform and a custom plug-in image acquisition daughter card which contains a CMOS image sensor PAS202BCA and a frame buffer. The software procedure contains the timing control, interfacing between system components, and image preprocessing to improve the image quality. The imaging system is integrated with a small mobile vehicle. Testing cases show that the mobile robot is able to recognize the traffic light signals and detect the palm movement for motion control, which examine and demonstrate that the imaging system developed in this thesis is indeed a stand-alone system and easy to be integrated with a mobile robot for more applications.

    中文摘要...........................I 第一章　緒論.......................II 第二章　系統架構...................III 第三章　影像系統設計...............IV 第四章　應用程式演算法.............V 第五章　結果與討論.................VI 第六章　結論.......................VII ABSTRACT...........................VIII 誌謝...............................IX 目錄...............................X 圖目錄.............................XIII 表目錄.............................XVI Chapter 1INTRODUCTION..............1 1.1　Motivation....................1 1.2　Literature Review.............1 1.3　Outline.......................3 Chapter 2 SYSTEM ARCHITECTURE.......4 2.1　System Overview...............4 2.2　DSP-based Image System........7 　2.2.1　TMS320C6713 DSK...........7 　2.2.2　PAS202BCA.................10 　2.2.3　AL422B....................12 　2.2.4　I2C Bus...................15 2.3　Small Mobile Robot............17 　2.3.1　AT89C52...................18 　2.3.2　Step Motor................18 　2.3.3　Hardware Circuit..........19 　2.3.4　Motion Control............21 Chapter 3 DSP-BASED IMAGING SYSTEM DESIGN...24 3.1　Introduction..................24 3.2　Image Acquisition Daughter Card Design..24 　3.2.1　C6713DSK McBSP as GPIO..............24 　3.2.2　PAS202BCA Control Circuit...........25 　3.2.3　AL422B Control Circuit..............27 　3.2.4　C6713DSK McBSP as UART..............31 3.3　Image Preprocessing.....................33 　3.3.1　CFA Interpolation and Image Downsampling...33 　3.3.2　Companding..........................37 　3.3.3　Automatic White Balance (AWB).......39 3.4　ROM Boot Procedure of C6713 DSK.........42 Chapter 4 APPLICATION ALGORITHMS..............44 4.1　Introduction............................44 4.2　The Traffic Light Recognition...........44 　4.2.1　Downsampling and Thresholding.......45 　4.2.2　Image Labeling and Segmentation.....45 　4.2.3　Traffic Light Color Determination...47 4.3　Palm Movement Detection.................47 　4.3.1　Skin Color Detection and Segmentation...48 　4.3.2　Noise Elimination...................49 　4.3.3　Palm Movement Determination.........50 Chapter 5 RESULTS AND DISCUSSION..............51 5.1　Hardware Implementation.................51 5.2　Software Implementation.................52 　5.2.1　Initialization Procedure of PAS202BCA...53 　5.2.2　Image Acquisition Procedure.........54 　5.2.3　Image Preprocessing Procedure.......55 5.3　Performance Analysis....................56 5.4　Implementation of Integrating with a Mobile Robot...58 　5.4.1　The Traffic Light Recognition.......59 　5.4.2　Palm Movement Detection.............63 Chapter 6 CONCLUSIONS AND SUGGESTIONS.........68 6.1　Conclusions.............................68 6.2　Suggestions.............................68 REFERENCE ....................................70 自述.........................................73

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