摘要
三目立体视觉系统能够克服双目立体视觉系统存在的遮挡等问题,进一步提高立体视觉系统测量精度。然而增加传感器数量会导致匹配算法计算量增大,影响系统实时性,从而限制三目立体视觉系统在各领域的实际应用。为此,本文提出一种三目半全局立体匹配算法及其硬件计算框架。首先,在对三目立体视觉系统基本模型深入分析的基础上,提出一种硬件友好的半全局匹配算法。随后,根据FPGA硬件并行化计算和流水线处理的特点,对片上系统整体框架及各计算模块结构进行设计。最后,基于Zynq-7000 SoC FPGA搭建一套完整硬件实验系统进行算法实现,分别使用数据集图像和真实场景图像对本文算法进行评估。实验结果表明,本文算法与传统双目半全局匹配算法相比,有效像素填充率提高17.31%,错误率降低13.06%,在真实场景下可实现60 fps实时立体匹配,能够满足各类应用场景的实际需求。
The trinocular stereo vision system could overcome the occlusion problem of the binocular stereo vision system.The measurement accuracy of the stereo vision system can be further improved.However,the large number of sensors may lead to the high computation load of the matching algorithm and affect the real-time performance of the system.Hence,the practical application of trinocular stereo vision systems is limited in various fields.In this article,a trinocular semi-global stereo matching algorithm and its hardware computational framework are proposed.Firstly,based on the in-depth analysis of the basic model of the trinocular stereo vision system,a hardware-friendly semi-global matching algorithm is proposed.Then,the overall framework of the on-chip system and the structure of each computational module are designed according to the parallelization and pipeline processing characteristics of field programmable gate array(FPGA)hardware computation.Finally,a complete hardware experiment system is established,which is based on Zynq-7000 SoC FPGA for algorithm implementation.The algorithm is evaluated by using dataset images and real scene images,respectively.Compared with the traditional binocular semi-global matching algorithm,experimental results show that the effective pixel filling rate of this algorithm is increased by 17.31%,the error rate is reduced by 13.06%,and the real-time stereo matching can be achieved at 60 fps in real scenes,which could meet the practical needs of various application scenarios.
作者
刘阳
冯进良
黄伟
康世勋
马韵琪
Liu Yang;Feng Jinliang;Huang Wei;Kang Shixun;Ma Yunqi(College of Opto-Electronic Engineering,Changchun University of Science and Technology,Changchun 241000,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2021年第12期202-210,共9页
Chinese Journal of Scientific Instrument
关键词
半全局匹配算法
三目立体视觉
硬件实时计算
现场可编程逻辑门阵列
semi-global matching algorithm
trinocular stereo vision
hardware real-time computing
field-programmable logic gate array
作者简介
刘阳,2018年于安徽师范大学获得学士学位,现为长春理工大学硕士研究生,主要研究方向为图像处理与计算机视觉。E-mail:liuyang@mails,cust.edu.cn;通信作者:冯进良,1987年于长春光学精密机械学院获得学士学位,1999年于长春理工大学获得硕士学位,2004年于中国科学院长春光学精密机械与物理研究所获得博士学位,现为长春理工大学教授,主要研究方向为仪器总体设计与仿真。E-mail:jinliang.feng@cust.edu.cn。
