To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified.

To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified.

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ABSTRACT:With the further increase of span of spatial structures, wind load becomes one of the governing factors in structural design. Attention is paid to wind-induced response analysis of spatial grid structures in the recent years. Research on the wind-induced responses of the cylindrical reticulated mega-structure with double-layer plane-plate grid substructures is conducted by time-history method in this paper. The basic distribution laws of the wind-induced member internal forces and nodal displacements of both the main structure and substructures are first analyzed. By detailed parametric analyses, the effect of the geometric parameters, damping ratio, load, boundary condition, and wind velocity on structural wind-induced response is then studied. Finally the structural wind-induced vibration coefficients are analyzed, and their rational values are recommended. All this work will provide theoretical guidance to the wind-resistance design of this kind of structure.

Image mosaic splices several adjacent overlapped images into an integrated seamless picture which could be significant in medical image processing. However, because of image acquisition, a mismatch could occur as a result of adjacent image stitching data and cumulative errors. The current method which is effective in certain ways still has room for improvement regarding processing speed and effectiveness, particularly in accuracy. This paper proposed a new image mosaic revising algorithms based on the relativity of adjacent images location, expounding the principal of image mosaic unit, the equations on splicing parameters and the simplified rules as well as achieving automatic calculation through application of revised algorithm. By experiment, the 20 groups inaccurate pathological mosaic images were revised rapidly and accurately with error controlled within a pixel. It is proved that the approach is effective in revising the error matching in microscopic images mosaic.