Interfacing a low-cost camera to an AMR9 architecture

OData support
Kis László
Department of Control Engineering and Information Technology

Camera observation has become an important field in robotics and autonomous vehicle

control. Nowadays, it is not only used for monitoring the operation of the robot and possibly

stop it in emergency situation, but the robot may also use the obtained information for

controlling itself. The first step of this method is to run image processing algorithms on the

recorded pictures or video stream. The aim might be for instance motion detection or

recognizing shapes, markes and corners, or even determining the position of the robot or objects

in the robot’s close environment.

Due to the fact that the camera is created for embedded systems, its size, weight and

possible costs have to be minimal. Nevertheless, it has to provide as good pictures as possible

(both in terms of resolution and refresh rate), because this is the basis of image processing


The project’s goal was to make a camera module with the parameters mentioned above

for an autonomous indoor quad rotor helicopter, which is developed at the

Department of Control Engineering and Information Technology of the Budapest University of

Technology and Economics.

In my thesis I show how to connect a Toshiba TCM8240MD camera module to an

ARM9 architecture ATMEL AT91SAM9260 microcontroller and how to configure it to provide

images, and finally to save it to a memory card.


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