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Implementation of Visual Data Compressor for Vision Sensor of Mobile Robot  

Kim Hyung O (전남대학교 기계공학과 대학원)
Cho Kyoung Su (전남대학교 기계공학과 대학원)
Baek Moon Yeal (경기공업대 자동차과)
Kee Chang Doo (전남대학교 기계시스템 공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.9, 2005 , pp. 99-106 More about this Journal
Abstract
In recent years, vision sensors are widely used to mobile robot for navigation or exploration. The analog signal transmission of visual data being used in this area, however, has some disadvantages including noise weakness in view of the data storage. A large amount of data also makes it difficult to use this method for a mobile robot. In this paper, a digital data compressing technology based on MPEG4 which substitutes for analog technology is proposed to overcome the disadvantages by using DWT(Discreate Wavelet Transform) instead of DCT(Discreate Cosine Transform). The TI Company's DSP chip, TMS320C6711, is used for the image encoder, and the performance of the proposed method is evaluated by PSNR(Peake Signal to Noise Rates), QP(Quantization Parameter) and bitrate.
Keywords
Mobile robot; Vision sensor; MPEG-4(Motion picture experts group); DWT(Discrete wavelet transform); IDWT(Inverse discrete wavelet transform);
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