中文摘要：

视觉系统是自主移动机器人感知外界环境的主要手段之一。本文介绍了自主移动机器人视觉系统的基本组成以及不同类型的机器人视觉系统的主要特点，并结合自主移动机器人视觉系统的发展趋势，比较详细地介绍了基于ASIC、DSP、FPCA、视觉芯片等技术的嵌入式视觉信息处理单元的主要特点及研究发展现状。本文最后提出了实现具有较强实用性的自主移动机器人视觉系统所需要解决的高实时性、通用性和适应性等若干关键问题。

英文摘要：

Vision system is one of the main techniques for autonomous mobile robot achieving autonomy and intelligence. In this paper, the composition of the vision system of autonomous mobile robot, as well as the characteristics of different vision systems were disucssed. Combined with the development of the vision system of mobile robot, the characteristics and the development of embedded vision processing unit based on ASIC, DSP, FPGA and vision chip were introduced in details. At the end of this paper, some problems, such as real-time implementation, generality and adaptability, which should be solved in the development of a useful vision system, were pointed out.