Research On Distance Measurement System Of Binocular Stereo Vision

Distance measurement system of binocular stereo vision is widely used in domains such as tri-dimensional reconstruction, untangent precise measurement and sense of dangerous scene. In this thesis, the theory of distance measurement system is studied and the system is realized in embedded system which is based on FPGA.At first, based on the characteristics of camera imaging module, reference frames of image, camera and real world is introduced in this thesis, the principle and theory on distance measurement of binocular stereo vision is put forward ulteriorly. Then calibration arithmetic and experiment is studied. Take human eye pupil as feature point, firstly this paper locate human face area which is used to find the coordinates of eye pupil by detecting circularity. Once we have calculated the coordinates of eye pupil in image and calibration result, it's possible to reconstruction the coordinates of eye pupil in real world. In this thesis, DE1 which is based on FPGA Cyclone II EP2C20F484C7 is taken as the embedded platform. As embedded processor Nios II is too slow to meet requirement of real time processing, this paper introduces two methods to accelerate the system: design hard module to translate IEEE float number into integer and as a custom instruction, the module is added into ALU; design image processing device of edge detecting etc and mount it on Avalon Bus by designing Avalon master and slave module in order to make it accessible for embedded processor Nios II. Experiments demonstrate that this method is 536 times faster than pure software implement.Distance measurement system of binocular stereo vision has characteristic of precise measurement and easy implement. It can be used in mobile environment and other fields which are strict with cost and real-time operation.