The Research Of Hardware System Of Panoramic Stereo Vision Based On DSP+FPGA Architecture

Panoramic stereo sphere vision system is a Panoramic vision and stereo vision of combining the advantages can be realized for a complete 360o × 360o global domain,no blind spot image information and simultaneously measure out in the whole field of view of the scene of the new visual depth information system.Aiming to achieve the needs of the visual system is proposed based on DSP + FPGA hardware design,given a specific hardware system structure and working principle,write,debug image preprocessing software programs,and the local and global functional test system to verify the correctness of the design,to explore the direction of future work.The main contents include:1.Study of vision hardware system design panoramic perspective ball.Proposed based on DSP + FPGA hardware system architecture design machine,the program content has been elaborated and studied the various technologies involved in content design,analyze the feasibility of using these technical design of the hardware system.2.Image acquisition and pre-processing unit.This unit uses FPGA chip,to achieve the acquisition and pre-processing of the image.Among them,the image acquisition module asynchronous clock FIFO method avoids the metastability problems arising due to cross clock domains,and in order to ensure the collection of images without losing the frame,based on the current state of the design frame image acquisition state machine.Image preprocessing algorithm module with the current development of preprocessing algorithm by analyzing and comparing the selected algorithm suitable for the visual system,and there is the problem of incomplete data constructed according to the algorithm in the window template,use the mirror phase optimization method output complete 3x3 matrix.3.Image buffer and transmission unit.This unit uses high speed DSP chip,through EDMA mechanisms within the chip high-speed transfer of image data,and through EMIF interface to transfer image data to the off-chip cache memory cells ping-pong process,the transmission of data in frames to the image processing unit performs image correction,matching and other complex processing.Finally,the image data is processed by the interface is transmitted to the display terminal EMAC,to achieve real-time processing of image data.4.The simulation and verification.The feasibility of experimental platform to build three-dimensional ball verify panoramic vision of the camera,the camera features local and overall were tested,the simulation results are given for each section of the module.Verifying the correctness of the design also analyzed the shortcomings of existing designs for the next optimization and improvement provided.