Research And Design Of Binocular Stereo Vision Processor Using Multi-core Heterogeneous Architecture

Binocular stereo vision is an important means to obtain the depth information of the scene.It is a research topic in the field of computer vision and attracts more and more attention.Binocular stereo vision imitates the principle of human eye perception,and obtains the depth information of each object in the scene with the corresponding matching algorithm,so as to complete three-dimensional reconstruction,three-dimensional measurement and other functions.Stereo matching is the most important and difficult problem in binocular stereo vision.The purpose of stereo matching is to find the matching points of the corresponding points between the two images.In the team of the latest algorithm of stereo matching algorithm,the effect of stereo matching has been able to match the ideal depth of the scene.But most implementations based on CPU,GPU,FPGA and so on,and all method can achieve real-time.CPU seems powerless for high-density and highly complex calculations because it's traditional serial computing framework.Although GPU and FPGA can achieve parallel processing,GPU is designed for the specific image processing algorithm and its stream processor image processing unit has been prepared that will cause a lot of waste of resources for the user,and FPGA is hard to develop for hardware developers and require hardware developers have a considerable IC design skill.Therefore,this paper propose and design a new experimental platform suitable for parallel computing(heterogeneous multi-core platform),which based on reconfigurable and programmable features of FPGA,and integration of Open CL heterogeneous computing standard HOCR-MPSOC(Heterogeneous reconfigurable MPSo C architecture).HOCR-MPSOC architecture integrated with two different cores Microblaze and Open Risc1200.Mcroblaze is the host processor,and take Open Risc1200 processor as the heart of compute unit to development calculation device.The modules of the system are connected on chip by AXI4.Through this bus the OpenCL slave device and the peripherals are able to be driven by the host.The host can schedule the different cores and peripherals to work in a parallel in order to achieve optimum processor core resources configuration and maximum performance.There are two advantages of the HCOR-MPSOC.First,HCOR-MPSOC support Open CL heterogeneous standard so that programmer can develop applications easily,and facilitate the use of software developers that does not need to know too much about hardware.And it can take different advantage cores into one chip.Second,it takes the advantage of the FGPA reconfigurable and programmable.The entire multi-core heterogeneous system is completed in Xilinx VC707 development board and complete binocular matching in the system.When the resolution of the image is 640*480,several different sets of data are tested,and then analyze the performance of the whole multi-core heterogeneous architecture in terms of matching effect and system parallelism.At the end of this paper,we point out the development target of the stereo matching algorithm and HOCR-MPSOC architecture.