Abstract
Currently, most of the stereo vision systems are constructed on PC-based or multi-CPU combination structures with two CCD cameras. It is difficult to be applied in movable plants for stand-alone requirement. Due to electronic technology development, the complementary metal-oxide semiconductor (CMOS) image sensor has been widely used in a lot of electronic commercial products and the digital signal processor (DSP) operation speed and capacity are good enough for stereo vision system requirement. Here, a new stereo vision platform is designed with TMS320C6416 DSK board integrated with two CMOS color image sensors for detecting and locating moving objects. The data communication interface, system monitoring timing flow, and image pre-processing software programs are developed, too. This system can be used to detect and track any moving object without object color and shape limitations of previous study. Experimental results are used to evaluate this system’s dynamic performance. This low cost stereo vision system can be employed in movable platform for stand-alone application, i.e., mobile robot.
Similar content being viewed by others
References
Lin C-S, Lue L-W (2001) An image system for fast positioning and accuracy inspection of ball grid array boards. Microelectron Reliab 41(1):119–128
Lin C-S, Lay Y-L, Huan C-C, Chang H-C, Hwang T-S (2003) An image-based LCD positioning system utilizing the modified FHT method. Int J Light Electron Opt 114(4):151–159
Lei L-Y, Zhou X-J, Pan M-Q (2005) Automated vision inspection system for the size measurement of workpieces. In: Proceedings of the IEEE Instrumentation and Measurement Technology Conference, IMTC, vol 2. Ontario, Canada, May 2005, pp 872–877
Illgner K, Gruber HG, Gelabert P, Liang J, Yoo Y, Rabadi W, Talluri R (1999) Programmable DSP platform for digital still cameras. In: Proceedings of IEEE International Conference on Acoustics, Speech, Signal Processing ICASSP’99, vol 4, Phoenix, March 1999, pp 2235–2238
Kanade T, Yoshida A, Oda K, Kano H, Tanaka M (1996) A Stereo machine for video-rate dense depth mapping and its new applications. In: Proceedings of the 15th Computer Vision and Pattern Recognition Conference (ICVPR’96), San Francisco, June 1996, pp 196–202
Konolige K (1997) Small vision systems: hardware and implementation. In: Proceedings of the 8th International Symposium on Robotic Research, Hayama, pp 111–116
Okutomi M, Kanade T (1993) A multiple-baseline stereo. IEEE Trans Pattern Anal Mach Intell 15(4):353–363
Bensrhair A, Chafiqui N, Michel P (2000) Implementation of a 3D vision system on DSP4 TMS320C31. Real-Time Imaging 6:213–221
Choy I, Sin Y, Park J (1997) Depth information on moving objects using stereo vision. In: Proceedings of SPIE—The International Society for Optical Engineering, vol 3074, pp 284–291
Bae KH, Koo JS, Kim ES (2003) A new stereo object tracking system using disparity motion vector. Opt Commun 221:23–35
Yoneyama A, Nakajima Y, Yanagihara H, Sugano M (1999) Moving Object detection from MPEG video stream. Syst Comput Jpn 30(13):1–12
Lipton AJ, Fujiyoshi H, Patil RS (1998) Moving target classification and tracking form real-time video. In: Proceedings of the 1998 DARPA Image Understanding Workshop (IUW’98), November 1998
Shoushtarian B, Bez HE (2005) A practical adaptive approach for dynamic background subtraction using an invariant colour model and object tracking. Pattern Recognit Lett 26(1):5–26
Dong L, Lin X (2010) Monocular-vision-based study on moving object detection and tracking. In: 4th International Conference on New Trends in Information Science and Service Science (NISS), Gyeongju, May 2010, pp 692–695
Dominguez-Caneda A, Urdiales C, Sandoval F (2006) Dynamic background subtraction for object extraction using virtual reality based prediction. In: IEEE Mediterranean Electrotechnical Conference, Benalmadena (Malaga), May 2006, pp 466–469
Trichet R, Merialdo B (2008) Keypoints labeling for background substraction in tracking applications. In: Proceedings of the 2008 IEEE International Conference on Multimedia and Expo, ICME, Hannover, June 2008, pp 1301–1304
Lee J-S, Seo C-W, Kim E-S (2001) Implementation of opto-digital stereo object tracking system. Opt Commun 200:73–85
Chen D, Yang J (2007) Robust object tracking via online dynamic spatial bias appearance models. IEEE Trans Pattern Anal Mach Intell 29(12):2157–2169
Sminchisescu C, Metaxas D, Dickinson S (2005) Incremental model-based estimation using geometric constraints. IEEE Trans Pattern Anal Mach Intell 27(5):727–738
Zhong Y, Jain AK, Dubuisson-Jolly M-P (2000) Object tracking using deformable templates. IEEE Trans Pattern Anal Mach Intell 22(5):544–549
Texas Instruments Inc. (2003) TMS320C6000 DSP external memory interface (EMIF) Reference Guide, September 2003
Gonzalez RC, Woods RE (1992) Digital Image processing, Addison-Wesley, New York
Sheu H-T, Chen H-Y, Hu W-C (1997) Consistent symmetric axis method for robust detection of ellipses. IEE Proc Vis Image Signal Process 144(6):332–338
Chen T-C, Chung K-L (2001) An efficient randomized algorithm for detecting circles. CVGIP Comput Vis Image Underst 83(2):171–191
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Huang, SJ., Ying, FR. Stereo vision system for moving object detecting and locating based on CMOS image sensor and DSP chip. Pattern Anal Applic 15, 189–202 (2012). https://doi.org/10.1007/s10044-010-0197-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10044-010-0197-3