DOI QR코드

DOI QR Code

Multiple SL-AVS(Small size & Low power Around View System) Synchronization Maintenance Method

다중 SL-AVS 동기화 유지기법

  • Received : 2009.06.16
  • Accepted : 2009.09.16
  • Published : 2009.09.30

Abstract

Due to the many advantages including low price, low power consumption, and miniaturization, the CMOS camera has been utilized in many applications, including mobile phones, the automotive industry, medical sciences and sensoring, robotic controls, and research in the security field. In particular, the 360 degree omni-directional camera when utilized in multi-camera applications has displayed issues of software nature, interface communication management, delays, and a complicated image display control. Other issues include energy management problems, and miniaturization of a multi-camera in the hardware field. Traditional CMOS camera systems are comprised of an embedded system that consists of a high-performance MCU enabling a camera to send and receive images and a multi-layer system similar to an individual control system that consists of the camera's high performance Micro Controller Unit. We proposed the SL-AVS (Small Size/Low power Around-View System) to be able to control a camera while collecting image data using a high speed synchronization technique on the foundation of a single layer low performance MCU. It is an initial model of the omni-directional camera that takes images from a 360 view drawing from several CMOS camera utilizing a 110 degree view. We then connected a single MCU with four low-power CMOS cameras and implemented controls that include synchronization, controlling, and transmit/receive functions of individual camera compared with the traditional system. The synchronization of the respective cameras were controlled and then memorized by handling each interrupt through the MCU. We were able to improve the efficiency of data transmission that minimizes re-synchronization amongst a target, the CMOS camera, and the MCU. Further, depending on the choice of users, respective or groups of images divided into 4 domains were then provided with a target. We finally analyzed and compared the performance of the developed camera system including the synchronization and time of data transfer and image data loss, etc.

CMOS 카메라는 저가격, 저전력, 소형화의 장점을 이용해 휴대폰카메라, 자동차 산업, 의학 및 센서 네트워크, 로봇제어, 보안 분야의 연구에서 이용되고 있다. 특히 다중카메라(Multi-Camera)기반의 $360^{\circ}$ 전방향 카메라(Omni-directional Camera)의 소프트웨어, 통신간섭 및 지연과 복잡한 영상제어 문제가 있으며, 하드웨어 분야에서는 다중카메라의 효율적인 관리 및 소형화의 문제를 지닌다. 기존 시스템은 다수 카메라를 제어하고 카메라 영상을 송수신하기 위해 카메라별 고성능 MCU로 구성된 임베디드 시스템(embedded system)과 별도의 제어 시스템(control system) 같이 다계층 시스템(Multi-layer system)으로 구성된다. 하지만 본 시스템은 단일구조로 저성능 MCU 기반에 고속 동기화기법으로 카메라 제어 및 영상 수집이 가능하도록 SLAVS(Small size/Low power Around View System)을 제안하였다. 화각 $110^{\circ}$ CMOS 카메라 여러 대를 이용하여 $360^{\circ}$전방향을 촬영하는 저성능 MCU로 카메라의 제어 및 영상 수집이 가능한 전방향 카메라 초기모형이다. 결과적으로 저전력 CMOS 카메라 4대를 하나의 MCU에 연결하여 개별 카메라에 대한 동기 유지, 제어 및 송수신을 구현하고 이를 기존의 시스템과 비교하였다. MCU를 통한 개별 인터럽트 처리로 카메라별 동기를 제어, 기억하여 Target과 CMOS 카메라와 MCU간의 재동기를 최소화하여 데이터 전송의 효율성을 높였다. 또한, 사용자 선택에 따라 4개의 영역으로 구분된 영상을 각기 또는 하나로 Target에 제공할 수 있도록 하였다. 마지막으로 개발된 카메라 시스템의 동기 및 데이터 전송 시간, 이미지 데이터 유실 등의 성능 비교, 분석을 하였다.

Keywords

References

  1. The CMUcam Vision Sensors. http://www.cs.cmu.edu/ cmucam/, 2008.
  2. Sanae Shimizu1, Kazuhiko Yamamoto, Caihua Wang, Yutaka Satoh, Hideki Tanahashi and Yoshinori Niwa1 "Moving object detection by mobile Stereo Omni-directional System (SOS) using spherical depth image," Pattern Anal Applic 2006, January 2005.
  3. COMedia Ltd., C328R User Manual, June, 2007.
  4. Naoki MIDORIKAWA, Kazunori OHNO, Satoshi TADOKORO and Hiroyuki KUWAHARA, "Remote wireless face recognition employing zigbee," Proceedings of the 2007 IEEE International Workshop on Safety, Security and Rescue Robotics., Septmber 2007.
  5. Davide Scaramuzza1, Agostino Martinelli and Roland Siegwart, "A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion," ICVS 2006.
  6. Zoran Zivkovic and Olaf Booij, "How did we built our hyperbolic mirror omni-directional camera - practical issues and basic geometry," UvA technical report, 2005.
  7. Zoran Zivkovic, Olaf Booij, Ben Krose, Elin A. Topp and Henrik I. Christensen "Omnidirectional Mobile Robot Navigation based on Omnidirectional Vision.," IEEE Japan Vol. 01, No. 20-30, pp. 25-29, 2001.
  8. inoru Shinohara, "Future Direction for Enhanced Safety," Niassn Motor Co., Ltd, June 2007.
  9. hulsung Park, Pai H. Chou, "Development of Small-Size Multi Camera System for Snake-like Robot, and Display of Wide View-Angle Image," ACM 2006, pp. 359-360, 2006.
  10. 박현문, 박수현, 이명수, 서해문, 박우출, 장윤정, "Stepwise 동기화 지원을 위한 CMOS 이미지 센서 Firmware 설계 및 개발," 시뮬레이션학회지, Vol. 17, No. 4. pp. 199-208, 12. 2008.
  11. Rahimi, R. Baer, Obimdinachi I. Iroezi, Juan C. Garcia, Jay Warrior, Deborah Estrin, and Mani Srivastava, "Cyclops: In Situ Image Sensing and Interpretation in Wireless Sensor Networks," in Proceedings of the 3rd international conference on Embedded networked sensor systems, November. 2005.
  12. COMedia Ltd., C328R User Manual, June, 2007.
  13. Ikdong Kim, Jaechang Shim, Jason Schlessman and Wayne Wolf, "Remote wireless face recognition employing zigbee," DSC 2006, in conjunction with ACM SenSys 2006, October 2006.
  14. Chulsung Park, Pai H. Chou, "eCAM: ultra compact, high data-rate wireless sensor node with a miniature camera," ACM 2006, pp. 359-360, 2006.
  15. X Chen, J Yang and A Waibel, "Calibration of a Hybrid Camera Network," ICCV'03, Vol. 1, pp. 150-155 October 2003.
  16. Fuad Khan, Michael Chapman and Jonathan Li, "Camera Calibration for a Robust Omni-directional Photogrammetry System," MMT2007, may 2007
  17. Bakstein, H. and Pajdla, T. "Panoramic Mosaicing with a 180 degree Field of View Lens.," Proc. IEEE Workshop on Omni-directional Vision, pp. 60-67. 2002
  18. Y. Yagi, "Omnidirectional Sensing and Its Applications," IEICE Trans. INF. & SYST., Vol. E82-D, No. 3, pp. 568-579, March 1999.
  19. http://www.suekage.com/
  20. ttp://www.giroptic.com/
  21. http://immersivemedia.com/
  22. http://world.honda.com/