基于ARM的嵌入式双目立体视觉测距系统电子书 件检测、物体识别等诸多领域。但是,它对系统平台配置的要求较高,在产品便携化方面有所欠缺。本文设计了一个以嵌入式技术为基础,以 Linux 操作系统为软件平台的双目立体视觉测距系统,是对双目立体视觉测距便携化的新的尝试。首先,对双目立体视觉测距的原理进行详尽的介绍并针对嵌入式系统的特点,本着低成本、高性能的原则,对系统进行软、硬件选型,并给出总体设计方案。其次,编写视频采集和二分屏显示程序,实现两摄像头所得图像在水平扫描线高度上的一致。通过灰度处理、高斯拉普拉斯边缘检测及平滑等数字图像处理算法,分别得出两幅图像的特征点,并进行第一级立体匹配。再次,根据对应匹配点进行二级立体匹配,编写测算距离的程序。并设计在LCD 上显示最终数据结果的程序。然后,进行系统移植和调试,完成基于嵌入式的双目立体视觉测距系统。最后,总结系统各方面的优势和不足,做出误差分析,并对产生误差的原因进行详细的阐释,为进一步的研究提供了方向。 关键词 嵌入式;ARM;立体视觉;特征匹配;图像处理 目录 摘要···················································································································I Abstract ·········································································································· II 第 1 章绪论 ···································································································· 1 1.1 立体视觉的发展现状··········································································· 1 1.2 选题背景及意义··················································································· 2 1.3 本论文研究目标和主要工作······························································· 3 1.4 本论文内容安排··················································································· 4 第 2 章双目立体视觉测距系统的总体设计·················································· 5 2.1 引言······································································································ 5 2.2 立体视觉测距的原理··········································································· 5 2.2.1 人眼产生立体视觉的工作原理······················································ 6 2.2.2 双目立体视觉测距的原理····························································· 7 2.2.3 测距的数学原理············································································· 8 2.3 硬件平台的选型··················································································· 9 2.3.1 嵌入式系统的选择······································································· 10 2.3.2 处理器选型··················································································· 10 2.3.3 图像传感器选型··········································································· 12 2.3.4 系统硬件结构··············································································· 14 |
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