Embedded omnidirectional ball vision object detection and mobile monitoring system and embedded omnidirectional ball vision object detection and mobile monitoring method

[0054] Embodiment 1. Embedded omnidirectional spherical vision target detection and mobile monitoring system

[0055] Such as figure 2 As shown, the hardware architecture of the embedded omnidirectional vision target detection and mobile monitoring system mainly includes:

[0056] Omnidirectional spherical vision image imaging system:

[0057] Including two FE185C046HA-1 fisheye lenses, with a 185° super wide angle, the two fisheye lenses are facing away from each other horizontally, and the optical axis coincides with each other, and can cover a 360°×360° global field of view; the image acquisition chip uses two MT9T001 MT9T001-type CMOS chips, independent of each other, connected to two fisheye panoramic lenses, and connected to SRAM memory chips through FPGA controller; two MT9T001-type CMOS chips are controlled by Cyclone IIC35 FPGA at the same time, used to collect two-way fisheye lens Image( Figure 5 );

[0058] Multi-channel DSP parallel image processor includes: ...

[0062] Embodiment 2, Embedded Omnidirectional Spherical Vision Target Detection and Mobile Monitoring Method

[0063] The experimental steps and practical effects of the present invention are specifically described below with practical cases.

[0064] This example is based on two-color navigation aids navigation, and mainly completes a global domain vision acquisition, static two-color navigation aids tracking and dynamic target detection parallel processing, and an example of mobile monitoring of self-guided vehicles for vehicle body mobile navigation.

[0065] Step 1: omnidirectional spherical vision image acquisition:

[0066] First, place the omnidirectional spherical vision monitoring system as described in Embodiment 1 on the top of the self-guided vehicle. Simultaneously capture images of the monitoring area by two fisheye panoramic lenses;

[0067] Second, collect the images of two fisheye panoramic lenses respectively by two CMOS image acquisition chips, and the col...