Binocular perception method capable of realizing hardware acceleration

Abstract

The invention discloses a binocular perception method capable of realizing hardware acceleration, which comprises the following steps of: firstly, leading out external trigger pins of two camera chipsof a binocular camera, and configuring registers of the camera chips to enable the camera chips to work in an external trigger mode; capturing a binocular image through a binocular camera and performing offline calibration to obtain parameters of the binocular camera; then, connecting a binocular camera to a PL part of the Zynq Ultra Scale + MPSoC to carry out synchronous triggering , and collecting a real-time binocular image generating a custom IP according to the parameters of the binocular camera, and in the PL, calling the custom IP to perform camera correction and performing binocular stereo matching on the real-time binocular image so as to generate a real-time disparity map; and finally, transmitting the real-time disparity map to a PS part of the Zynq Ultra Scale + MPSoC, carrying out data interaction with a DDR4 memory in the PS part, and meanwhile, generating a Linux kernel and a file system to manage an image cache in the DDR4. The invention can be applied to an embedded system having requirements for computing power and power consumption, and hardware acceleration can be effectively achieved.

Description

technical field [0001] The invention relates to the technical field of stereo vision and embedded system design, in particular to a binocular perception method capable of realizing hardware acceleration. Background technique [0002] Stereo vision is an important topic in the field of computer vision, and its purpose is to reconstruct the three-dimensional geometric information of the scene through binocular perception. Stereo vision is widely used in robotics, and there are usually specific choices for hardware. For example, when stereo vision is applied to mobile scenes such as drones and unmanned driving, the images captured by the rolling shutter camera will be blurred due to the rapid movement of the scene. , it is necessary to choose a global exposure camera. Stereo matching is a key link in stereo vision, and camera hardware synchronous triggering can greatly reduce false matching. In the embedded system, the weight and power consumption of the hardware must be cons...

AI Technical Summary

Problems solved by technology

In addition, due to the complexity of the algorithms related to stereo vision and the large amount of calculation, there are certain requirements for the processing speed of the hardware. How to improve the processing speed of the hardware has always been a research topic of stereo vision.

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