基于ZYNQ的水下双目实时图像采集与处理系统设计

Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ

针对水下机器人近距离作业过程的水下目标探测需求,设计了一种基于ZYNQ的双目实时图像采集与处理系统,研制了水下双目相机工程样机。该系统由FPGA采集OV5640图像传感器的视频数据,经IP核转换为VDMA支持的接口类型,通过AXI4总线将数据传输到PS端的DDR中缓存,然后通过PS端的以太网将数据发送至上位机软件,数据经上位机软件解析后即可实现双目图像的实时显示与处理。实验结果表明:系统实现了在25frame/s帧率下1600 pixel×600 pixel图像的实时采集和存储,双目图像标定后的重投影误差平均值为0.0542 pixel,通过立体校正实现了双目图像行对齐。这为进一步测试和实现水下目标测量定位及三维重建提供了可靠平台。

To meet the requirements of underwater target detection during close range operation of underwater robots,a real-time binocular image acquisition and processing system based on ZYNQ-7000(ZYNQ)was designed and an underwater binocular camera prototype was developed.The system collects video data from OV5640 CMOS based on FPGA,converts it to an interface type supported by VDMA through IP core,and transmits the data to the DDR cache on the PS through AXI4 bus.The data are then sent to the PC software via Ethernet on the PS.After the analysis using the PC software,the binocular images can be real-time displayed and processed.The results show that the system has achieved real-time acquisition and storage of 1600 pixel×600 pixel images at 25 frame/s,with an average reprojection error of 0.0542 pixel after binocular image calibration.Binocular image row alignment was achieved through stereo rectification.This provides a reliable platform for further testing and achieving underwater target measurement, positioning, and 3Dreconstruction.