G1500104 小型移動ロボットに適した整数和算のみで構成される画像圧縮法

抄録

Many locomotive robots have been created for inspecting the social infrastructures such as a lot of bridges and tunnels that had been constructed in many years. Installation of a small camera and a wireless LAN module to the locomotive robot is necessary to control it remotely. The camera image must be encoded to transmit the data from the robot in advance because the throughput of wireless LAN is limited. The compressibility of the image compression through discrete wavelet transform and arithmetic encoding is very high. However, the calculation load is also large. A highly efficient personal computer cannot be installed in the robot when the robot is small. FPGA becomes the most powerful candidate as a main controller for the small robot. However, it is not good at arithmetic operation because FPGA is an electric circuit. Especially, use of floating-point numbers, the multiplication and division calculations are difficult for the FPGA. In this study, the multiplication and division calculations have been excluded from the discrete wavelet transform and arithmetic encoding so as to make program easy in FPGA. Then, I have prevented the emergence of floating-point numbers in the calculation. I have created the VHDL program and the sending and receiving device of the encoding and decoding. The image data captured by a CMOS camera have been projected onto the display monitor on the receiving side.