Miniaturized real-time stereoscopic visual display

Abstract

A mini type real time stereo vision device is composed of stereo vision-imaging head, stereo vision information processor, and controller / communication interface. The image sensors in the stereo visio-imaging head capture images synchronistically, and diagonal field angle of pickup camera is reached to 140 degree. The stereo vision information processor including a piece of FPGA as processing chip accomplishes correcting distortion, LoG filtering, SSAD calculation, and deepness calculation for sub pixel level, in order to realize real time restoring dense deepness image. The controller / communication interface composed of DSP and 1394 type of communication chip is used to realize storing, displaying and transferring deepness image and gray image, also used in processing deepness image in high level and generating control instruction based on the deepness image and gray image. The invented stereo vision device has advantages of small volume, large field angle, and can realize vision sensing of system such as apery robot and independent vehicle or realize robust video monitoring task based on segmenting and tracking target of deepness image.

Description

technical field [0001] The invention is a miniature real-time stereo vision machine, which belongs to the field of machine vision. It is used to restore, store and transmit dense depth maps of scenes in real time. Background technique [0002] Stereo vision technology has been widely used in the fields of mobile robots, multi-target tracking, 3D measurement and object modeling. In order to solve the real-time calculation problem of stereo vision, people have developed a variety of dedicated parallel processing systems for stereo vision, among which the hardware systems based on DSP and FPGA are the two most commonly used real-time stereo vision systems. In 1996, Kanade and others at Carnegie-Mellon University in the U.S. built a set of real-time five-eye stereo vision machine. Image preprocessing VME board, image parallel computing DSP array VME board (8 TMS320C40 chips) and main control computer. The processing performance of the system reaches 30MDPS. When the image res...

AI Technical Summary

Problems solved by technology

Existing stereo vision system basically is to adopt conventional lens camera, angle of view is smaller, and the stereo angle of view formed by multiple cameras is smaller, and the information that obtains at one time is very limited, and in addition, the stereo vision of this type of stereo vision The blind spot is large, and it is impossible to perceive close-range targets

[0006] 3. Increasing the number of cameras can reduce mismatching and improve the accuracy of dense depth map restoration, but it will greatly increase the computational burden of the system

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