Geometric correction and disparity extraction device of binocular camera

A geometric correction and extraction device technology, applied in the field of image processing, can solve the problems that programmable devices are difficult to realize high-complexity processing and application, poor scalability and upgrade ability, and slow computer operation speed, etc., to achieve scalability and upgrade Strong ability, realize processing and application, and facilitate the effect of on-site debugging work

Inactive Publication Date: 2010-12-15
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] 1) Computers based on general-purpose processors have slow computing speed and poor real-time performance
[0011] 2) Computers based on general-purpose processors are bulky and consume high power
[0012] 3) Poor scalability and upgrade capabilities, lack of flexibility
[0013] 4) It is difficult to realize high-complexity processing and application based on programmable devices

Method used

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  • Geometric correction and disparity extraction device of binocular camera
  • Geometric correction and disparity extraction device of binocular camera
  • Geometric correction and disparity extraction device of binocular camera

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Embodiment 1

[0047] In this embodiment, the high-speed camera adopts a common lens, and the aperture and focal length are manually adjusted; the high-speed differential communication unit adopts the DS92LV16 of National Semiconductor Company, which provides a maximum full-duplex transmission rate of 2.56Gbps; the high-speed camera and image parallel processing board The cards are connected by direct network cables to transmit low-voltage differential signals, and the image parallel processing boards are used for real-time geometric correction. Figure 7 The flow chart of real-time geometric correction is given. The geometric correction result is transmitted to the DSP operation sub-card through a direct network cable. In this example, only one DSP operation sub-card is used, that is, N is 1. The DSP operation sub-card performs Ethernet packaging on the image Forwarding and transmitting to the computer through the Ethernet interface; this system can collect binocular images, real-time geomet...

Embodiment 2

[0049] This embodiment is a typical application of the present invention. The invention can realize geometric correction and parallax extraction of binocular cameras. The image acquired by the high-speed camera is transmitted to the image parallel processing board for real-time geometric correction, and the correction result is transmitted to a group of DSP operation sub-cards through the data distribution control board, and the DSP operation sub-card runs the user-defined calculation of parallax , including but not limited to grayscale difference square method (SSD), normalized grayscale difference square method (NSSD), zero mean grayscale difference square method (ZSSD), zero mean grayscale difference absolute value method (ZSAD), Rank and Census, etc., the processing results are aggregated through Ethernet switches and sent to receiving devices such as computers for display. The device can be applied to a machine vision system of an intelligent robot or an intelligent vehi...

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Abstract

The invention discloses a geometric correction and disparity extraction device of a binocular camera, which comprises two high-speed cameras, an image parallel processing board, a data distribution control board, a plurality of DSP (Digital Signal Processing) operation daughter cards and an Ethernet switch. Images acquired by the high-speed cameras are transmitted to the image parallel processing board for real-time geometric correction, the results are distributed to the data distribution control board and one group of DSP operation daughter cards for real-time processing, and the processing results are summarized by the Ethernet switch and transmitted to receiving equipment. Different disparity extraction methods and the advanced application of binocular stereoscopic vision are realized by updating software on the DSP operation daughter cards. The invention has the advantages of high processing speed, strong real-time performance, small size, low power consumption, strong extendibility and strong flexibility; the cameras have adjustable base distance and convenient onsite debugging; and the processing process of the DSP operation daughter cards can be changed through the Ethernet or a USB flash drive.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a device for geometric correction and parallax extraction of a binocular camera. Background technique [0002] The matching of feature points between stereo images has always been one of the most commonly used technical means in machine vision. The search for matching points in the stereo image pair is carried out along the corresponding epipolar lines of the image pair, and the geometric correction makes the corresponding epipolar lines collinear in space and parallel to one coordinate axis of the image plane, so that the search for matching points from two Dimensionality is reduced to one dimension, which greatly improves the search speed and accuracy of search results. Therefore, the correction of stereo vision images is of great significance to improve the performance of matching algorithms. [0003] Parallax is based on the further processing of matching points. By...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T1/20H04N5/232
Inventor 王延长杨镔李培弘刘济林
Owner ZHEJIANG UNIV
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