室内移动机器人的快速CCD视觉传感处理系统研究

针对传统方法直接对CCD采集的图像进行后续信号处理在实时性上的不足，特别是在高像素CCD构成的视觉系统中这种不足尤为突出。提出了一种快速CCD视觉传感处理方法，该方法包括动态灰度处理、Sobel后置优化、边缘跟踪Hough变化和传感器快速标定，能有效降低算法复杂性，提高整个视觉传感系统的实时性。在白行设计的ARM9（S3C2410）CCD传感的移动机器人平台上运行，实验证明具有较好的实时性。

Research on fast CCD vision sensor processing system for indoor mobile robot

To solve the real-time disadvantage of the traditional CCD processing method,especially on the vision system made of high pixel CCD. The fast CCD vision sensor processing method is presented. This method is made of dynamic grayscale processor, Sobel optimal postposition, edge-tracing Hough transform and fast sensor demarcating. It can effectively reduce the complexity of algorithm and increase the real time of vision sensor system. This algorithm is ran on the independently designed robot based on ARM9 （S3C2410）and CCD sensor, the experiment result proves that this algorithm has good real time.