The Design of DSP-Based Corner Detection for Power Line Inspection Robot
Aiming at the requirement of power line inspection robot, this paper develops and builds a vision system depending upon the TMS320DM642 as the core, which can realize the image collection and display, implement the image features extraction. Through the extended UART interfaces, this system can communicate with the control unit of Power Line Inspection Robot. Corner coordinates obtained from the algorithm of this system can be used for extraction and matching of the image feature points, motion estimation, threedimensional reconstruction, etc. Compared to the traditional vision system based on image capturing cards and PC platforms, it has the advantages of small size, favourable realtime properties, low power consumption, etc. Experiment results indicate that the precision and speed of corner extraction are both better than those of the traditional PC platforms.
Corner detector harris algorithm DM642 power line inspection robot
Qi Zuo Zijian Guo Dehui Sun De Xu
The Field Bus Tech & Automation Key Lab.North China University of Technology Beijing, China Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of
国际会议
第四届国际计算机新科技与教育学术会议(2009 4th International Conference on Computer Science & Education)
南京
英文
763-766
2009-07-25（万方平台首次上网日期，不代表论文的发表时间）