Binocular Active Ranging System Based On Embedded Platform

Vision measurement is a kind of high efficient, non-contact and advanced detection technology, which has been widely used in the robot navigation, transportation, military, medical diagnosis and industrial detection and other fields. This paper takes the automatic ranging in robot obstacle avoidance as application background, and designs and implements a binocular active ranging system based on embedded system.It uses a laser to detect obstacles in front, with laser point as visual matching characteristics,so it improves the system initiative of target locating, effectively reduces the visual matching complexity, and improves the real-time performance; By means of scanning technology, through the motor to drive the laser transmitter, it extends detection range;it also use embedded development platform so that system is miniature, practical.Firstly, elaborate the principle of vision measurement technology. Based on analyzing the characteristics of visual ranging system, summarizing the research status, and the design requirements of the binocular active ranging system, the general framework of the system is designed. Then, with 51 chip as the main control chip, complete the software and hardware of the laser emission module, and realize the function of laser scanning front range; with USB cameras, complete dual video acquisition platform; and with the ARM9 embedded platform as ranging module, complete the underlying software transplantation.After building the bottom development platform, complete the development of application software inculding video acquisition and display, image filtering, segmentation, matching about laser spot. Finally implement the ranging system.The experimental results indicate that the range and the error of the system meet the design requirements; it is initiative,real-time and low cost.