Development of a Low Cost High Speed Stereo Vision System for Embeded Use Using CMOS Imagers and DSP

Abstract

We developped a low cost high speed stereo vision system for embeded use using CMOS imagers on the market and TI DSP(Digital Signal Processor) board that can capture subframe images in shorter period than video rate. Because the proposed system is small, low enegy consumption and low cost, it is suitable for embeded use or small autonomous mobile robot. Some experiments demonstrate that this vision system can capture 96[pixel]×96[pixel] image in 1[ms] period and detect the target position and track the target in 3[ms] period.