Panoramic Imaging System Inspired by Insect Compound Eyes

摘要

Inspired by the unique structure of insect compound eyes,a multi-channel image acquisition system is designed to photograph a cylindrical panorama of its surroundings with one shot. The hardware structure consists of an embedded ARM system and one array of 16 micro-image sensors. The system achieves the synchronization of captured photos in 10 ms,as well as 10 f /s video capture. The software architecture includes the TCP /IP protocol,video capture procedures in"Poll/Read"or"video streaming"modes,thread pool monitoring in multi-threading mutex,synchronization control with the"event""mutex signal"and"critical region"functions,and a synthetic image algorithm characterized by its portability,modularity,and remote transmission. The panoramic imaging system is expected to be a vision sensor for mobile robotics.