Research On Fpga Based Binocular Vision Module Of Intelligent Service Robot

In this dissertation, a binocular vision module of intelligent service robot based on FPGA is researched according to 863 projects "Modular Architecture design of Robot", aimed at reducing host computer's resources which image processing occupys and increasing image processing speed. Modular architecture has merits of high repetitive configuration, generality and low researching cost, thus it could reduce much low level repeated work in research and development.This dissertation includes the following works, system design, research of FPGA based image preprocessing, binocular ranging and corresponding experiments.In the area of system design, based on DE2-70 FPGA developing platform of Altera corporation, a SRAM storage extending board is designed; using schematic desiging files and language Verilog HDL, I2C bus configuration module, image acquisition, storaging and preprocessing module, image displaying module, NiosⅡon chip system and corresponding timing control module are programmed. In addition, the system uses standard VGA and RS232 interfaces to connect with host compute of robot, which makes the communication convinent.In the area of researching of FPGA based image preprocessing algorithm, several typical image filter algorithms are analyzed and implemented in FPGA. Combined with FPGA's parallel and pipeline processing feature, a new FPGA based adaptive mean filter algorithm is proposed which enhanced filtering effects; Combined with the feature of integration of image acquisition and processing, a real-time contrast enhancement methed is proposed which increased the processing speed and the structure of Kirsch edge detection algorithm is improved which reduced the occupation of FPGA resourse.In the area of research of binocular ranging based on image preprocessing, camera modeling, calibration and binocular ranging principle are researched and implemented; programed by language C, the function of binocular ranging and communication are realized in NiosⅡon chip system of FPGA; also, the control interface on host computer is designed by VC++.In the area of system experiments, it was verified that binocular vision module could acqusit and display image correctly and in real-time, process image rapidly and effectively, could binocular ranging objects with different shapes, also the depth deviation is small, it also realized human-computer communication by RS232 and VGA.This dissertation preliminary meets the requirements of modular design and establishes the foundation for further research of modular vision platform of intelligent service robot.