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Method and device for real-time binocular stereo matching based on zynq

A binocular stereo matching and parameter configuration technology, applied in the field of 3D stereo vision, can solve the problems of high computing time and difficulty in meeting real-time requirements, and achieve the effects of reducing intermediate waiting time, increasing the degree of parallelization, and improving efficiency

Active Publication Date: 2021-01-19
SEIZET TECH SHEN ZHEN CO LTD
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  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the above defects or improvement needs of the prior art, the present invention proposes a method and device for realizing real-time binocular stereo matching based on ZYNQ, thereby solving the problem that it takes a lot of calculations to perform stereo matching on binocular images on the CPU or GPU Time, technical problems that are difficult to meet real-time requirements

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  • Method and device for real-time binocular stereo matching based on zynq

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[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0039]The invention utilizes the advantages of FPGA hardware logic resources to process data in parallel to solve the application requirements of fast and real-time stereo vision matching. The purpose of stereo vision is to reconstruct the three-dimensional geometric information of the scene by using the pictures taken by two or more cameras in different positions. It can be used in the fields o...

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Abstract

The invention discloses a method and device for realizing real-time binocular stereo matching based on ZYNQ, which belongs to the field of 3D stereo vision. The method is realized based on a ZYNQ platform. The ZYNQ platform includes: a processing system PS and a programmable logic PL, and a programmable logic PL The external storage module stores the left and right images and the intermediate calculation results, so as to complete the real-time calculation and processing of the binocular stereo matching by means of pipeline and parallel processing; The PL performs data interaction, controls the programmable logic PL, and reads the disparity calculation results and intermediate calculation results from the storage module. The invention utilizes the advantages of FPGA hardware logic resources to process data in parallel to solve the application requirements of fast and real-time stereo vision matching.

Description

technical field [0001] The invention belongs to the field of 3D stereo vision, and more specifically relates to a method and device for realizing real-time binocular stereo matching based on ZYNQ. Background technique [0002] Binocular stereo vision is a physiological structure that directly simulates human binocular vision. It is an important technical means for depth information extraction in 3D scenes. It is widely used in robot guidance, logistics sorting, industrial automation manufacturing and 3D measurement. In stereo vision The key and difficulty lies in the stereo matching of binocular images. Due to the need for repeated calculations of a large amount of data in the matching process, and as the application has higher and higher requirements for precision, sometimes a high-resolution camera is required, which further increases the amount of data. Therefore, it takes a lot of computing time to perform stereo matching on the binocular image on the CPU or GPU, and it ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T1/20G06T1/60G06K9/62
CPCG06T1/20G06T1/60G06V10/757
Inventor 王晓斌赵青
Owner SEIZET TECH SHEN ZHEN CO LTD