科研之友
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摘要
A compact compound-eye model is designed to track fast-moving objects and detect their three-dimensional (3D) coordinates, which is combined with a camera with dynamic regions of interest (ROI). The structure of this system and the design principles are presented, and a strategy for tracking and detecting, which is suitable for compound-eye system, is proposed. Kalman filters are employed to parallelly generate multiple regions of interest on the imaging sensor, thus resolving the conflicts among wide field of vision, high resolution and real time characteristic and realizing high-speed tracking at a low cost. The 7 ommatidia of the compound-eye lens are calibrated using Tsai two-step method, and a normalized multi-view detecting model is established to obtain the 3D information of fast-moving objects. This system is used to track an object with uniform circular motion at a speed of 10 r/s at a frame rate of 3000 f/s, and obtain the 3D trajectory of the object at a distance of 150 mm. Preliminary experimental results show that the compound-eye system can effectively track and roughly locate high-speed objects in real time. Factors affecting the detecting precision are analyzed, and effective measures to improve the accuracy are discussed, which might lay the foundation for the future design of panoramic high-speed 3D-tracking compound-eye system.
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