摘要
针对智能机器人等领域对同步获取更大视野场景的需求,设计出一种基于双CMOS图像传感器的嵌入式实时图像拼接系统。以DSP为中央处理器,硬件上采用具有外部触发模式的CMOS图像传感器搭配异步FIFO实现同步曝光采集,结合系统特点通过减少ORB算法中特征值搜索范围、构建自适应积分图加速描述子运算以及对特征值匹配增加极线约束保证拼接效果的同时提高其实时性。通过上位机观测系统性能表明,该系统图像处理速度为4 fps,可用于移动机器人等领域。
To meet the requirements of obtaining a larger field of vision synchronously for intelligent robot and other fields,an embedded real-time image mosaic system based on dual CMOS image sensor is designed.A DSP was chosen as the central processor.CMOS image sensors with external triggering mode and asynchronous FIFO are used as hardware to realize synchronous exposure acquisition.By reducing the searching range of feature sub in ORB algorithm,an adaptive integral map was built to accelerate the operation of descriptor sub.The increase of the polar constraint on feature sub ensures the splicing effect while improving the timeliness.The performance of the upper computer observation system shows that the image processing speed of the system is 4 FPS,which can be used in mobile robots and other fields.
作者
祝和
赵燕
李金科
ZHU He;ZHAO Yan;LI Jinke(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,ShenZhen 440305,China)
