Research Of Pose Calculation Algorithm Based On DSP Platform

The position and attitude measurement of the moving target has gradually become the key research direction in the military,aerospace and transportation.The objective of this article is to complete the measurement based on the embedded technology and the theory of monocular vision measurement.A real-time image acquisition and processing system based on DM6437 digital signal processor was designed and the matlab simulation about image processing and pose solution algorithm was done.After detailed DSP software programming and debugging,the final completion of the preliminary prototype was developed.The prototype was tested in three environments,and showed that the accuracy of the measurement system had reached the requirements of the technical parameters of the project.The work of this paper mainly divided into the following parts:1.Through the reading of the relevant literature,the paper analyzes the prospect of monocular vision measurement in the field of measuring the position and attitude and the research status at home and abroad.2.The image processing algorithm which is involved in this paper is defined,and the implementation efficiency is improved by the improvement of traditional connected domain labeling algorithm.Finally,a series of simulation experiments are carried out on the Matlab platform.3.A real-time image acquisition and processing system based on DM6437 digital signal processor was designed,and the paper details the CMOS module's internal structure,the application value of DSP related technology in the field of video processing as well as the overall structure of the measurement system.4.In the CCS development environment,based on DSP/BIOS to complete the development of the DSP program,including the preparation of the CMOS camera driver and the implementation of the pose calculation algorithm on the DSP platform.5.A large number of experiments were carried on the prototype in three environments,and a detailed analysis of the prototype system's accuracy was completed.And in the experiments we also used the tool in DSP/BIOS to analyze executive efficiency of program in order to provide specific direction for optimizing the program.6.Completed the DSP program optimization from different direction,including: the configuration of development environment,optimization at the level of DSP hardware and the use of TI official support library,and the effect of each optimization measure was tested,our goal was that the parameters of the DSP measurement system can meet the technical requirements of the project...