A miniaturized space-variant active vision system: Cortex-I

摘要: We have developed a prototype miniaturized active vision system whose sensor architecture is based on logarithmically structured space-variant pixel geometry. A image's resolution changes across the image. Typically, central part of image has very high resolution, and falls off gradually in periphery. Our integrates miniature CCD-based camera, pan-tilt actuator, controller, general purpose processors display. Due to ability sensors cover large work-spaces, yet provide acuity with an extremely small number pixels, architectures potential for radical reductions size cost. realized this by creating entire that takes up less than third cubic foot. In thesis, we describe (Cortex-I) which performs such tasks as tracking moving objects license plate reading, functions video telephone. We report design construction camera (which 8 x 8mm), its readout, fast mapping algorithm convert uniform introduce new Spherical Pointing Motor (SPM), 4 5 6cm. The basic idea behind SPM orient permanent magnet magnetic field induced three orthogonal coils applying appropriate ratio currents coils. Finally, present results integrating several applications. Potential application domains systems type include mobile robots robot manipulators, traffic monitoring systems, security surveillance, telerobotics, consumer communications. The long-range goal project demonstrate major applications robotics will become feasible when low-cost machine can be mass-produced. This notion "commodity robotics" expected parallel impact personal computer, sense opening niches what until now been expensive therefore limited technology.