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.