Research On Hardware System Of Panoramic Stereo Sphere Vision

Panoramic vision system can obtain a360degree horizontal and vertical180degree scene images,but unable to obtain the three-dimensional information of object. Stereo vision system is based on triangulation distance measurement principle. It acquires the depth information by captured the corresponding points from different images, but there is a problem of a narrow field of view.To solve the narrow field of view for traditional stereo vision system and panoramic vision system is unable to obtain three-dimensional information, the group proposed a geometric model of the panorama stereo sphere visual system based on combined fisheye lens, it can complete three-dimensional image information of360°×360°observation space in one time. The hardware system of panoramic stereo sphere visual system is main content of this paper, the paper make a detailed analysis of panoramic stereo sphere visual system demand and parallel processing technology, and then proposed a loosely coupled parallel embedded panorama sphere visual hardware system based on DSP+FPGA architecture. The hardware system is divided into image processing and control module with DSP as a core processor, is responsible for complex image processing, system scheduling and output of the image processing results; image acquisition and pre-processing module with FPGA as core processor, is mainly responsible for fisheye image concurrent acquisition, image buffer and pretreatment. In order to increase the parallelism of the hardware system by using the ping-pong caching mechanism. Based on the analysis of high-speed signal integrity, the paper design and complete the panorama stereo sphere vision hardware system circuit schematics and printed circuit boards, and then complete the driver, simulation, debugging of image acquisition and pre-processing module, finally make a experimental equipment including image acquisition, processing modules.