激光光斑中心圆拟合定位算法的FPGA实现

FPGA implementation of laser spot center location algorithm based on circle fitting

针对双目立体视觉测距系统的实时性要求,提出了一种改进的激光光斑中心定位算法,并在FPGA上进行了验证。该算法首先对图像进行阈值判定排除干扰光线,然后用Sobel算子对图像进行边缘检测得到边缘图像,最后再利用改进的圆心拟合算法进行中心定位。基于FPGA的硬件系统利用合理的流水线设计提高了数据处理的并行性,可以实时处理大量的数据,克服了传统算法在精度和速度上的不足。中心定位算法结果用于立体匹配,效果良好,完全满足设计需要。

In order to meet the requirement of real-time in measuring distance by binocular stereo vision,an improved laser spot center location algorithm was proposed and implemented in field programmable gate array（FPGA）.The algorithm firstly eliminated the interface light by threshold determination,then the edge points were detected by using Sobel operator to obtain edge image.Finally,center was located with an improved circle fitting algorithm.Proper pipelines were designed based on FPGA to improve the capability of the parallel data processing and large real-time data flow,which overcame the defects on precision and speed in traditional algorithms.The result indicates that the performance of center location algorithm is good when applied to measuring distance by binocular stereo vision.