基于双核DSP的点目标立体视觉定位

36120101OPTICALTECHNIQUEVol.36No.1Jan.2010:100221582(2010)0120033206DSP3,,(,100081)::,,,DSP2D3D,,49.21ms,0.15mmRMS,:;;DSP;;:TP751:ADual2coreDSPbasedstereovisionpositioningofpointtargetsZHOUPing,LIUYue,WANGYong2tian(CentreforResearchonOptoelectronicsInformationTechnology&ColorEngineering,BeijingInstituteofTechnology,Beijing100081,China)Abstract:Fourpositioningalgorithmsarediscussedasfollows:homogeneousmethod,nonhomogeneousmethodbysolvingthenormalequationdirectly,nonhomogeneousmethodbygeneralizedinverse,analyticgeometrymethod.Adual2coreDSPparallelandinteractivecrossworkisproposedtorealize2Dpositioncorrectionand3Dpositioning.Experimentsarecarriedouttoinvestigatetherealtimeandaccuracyofthealgorithms.Experimentalresultsshowthatwhenaframeofimagewithfourpointtargetsareprocessedbythenonhomogeneousmethodbysolvingthenormalequationdirectly,thelatencybetweentheoriginaldataandthepositioningresultsare9.21ms,andtheaccuracyis0.15mmRMS,whichshowssatisfactoryrealtimeandaccuracyperformance.Keywords:stereovision;positioning;dual2coreDSP;processingspeed;accuracy0,[13],,,PC,[4,5]FP2GA,,333:2009205205;:2009207216E2mail:[e-mail]:(863)(2006AA02Z4E5,2008AA01Z303);(60827003):(19812),,,©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[6],DSP,DSP,11,,z,,,wO2wXwYwZ,P,1P2P12P3D,:CC,;1P2P,FPGA[6],1P2P,23DX1P=PX,2P=PX,PP;1.1X,X=[xyzw]T,X[r1,k1][r2,k2],,,1P(PX)=0,r1(P3TX)-(P1TX)=0k1(P3TX)-(P2TX)=0r1(P2TX)-k1(P1TX)=0(1)PiTP,X,,AX=0,A=r1P3T-P1Tk1P3T-P2Tr2P3T-P1Tk2P3T-P2T(2)(2),44,,[7]:1.1.1X,AX=0X,X=0A4,,XA,ASVD,A=UDVT,D,XVsr1sk1s=b11b12b13b14b21b22b23b24b31b32b33b34xyzw(3)tr1tk2t=c11c12c13c14c21c22c23c24c31c32c33c34xyzw(4)4336©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(1i3,1j4)P,(4)cij(1i3,1j4)P,AX=b11-b31r1b12-b32r1b13-b33r1b14-b34r1b21-b31k1b22-b32k1b23-b33k1b24-b34k1c11-c31r2c12-c32r2c13-c33r2c14-c34r2c21-c31k2c22-c32k2c23-c33k2c24-c34k2xyzw(5)ASVD1.1.2AX=0,X1X=[x1x2x31]T,AX=0b11-b31r1b12-b32r1b13-b33r1b21-b31k1b22-b32k1b23-b33k1c11-c31r2c12-c32r2c13-c33r2c21-c31k2c22-c32k2c23-c33k2x1x2x3=b34r1-b14b34k1-b24c34r2-c14c34k2-c24(6)(6)Bx=b,x=(BTB)-1BTb,(BTB)SVDBSVDB=UDVT(7)B=U000VT(8)SVDBB+,U1Up+1,V1Vp+1,p+1DB+=V1UT1(9)x=B+b(10),X1,1.23Db11-b31r1b12-b32r1b13-b33r1b21-b31k1b22-b32k1b23-b33k1c11-c31r2c12-c32r2c13-c33r2c21-c31k2c22-c32k2c23-c33k2xyz=b34r1-b14b34k1-b24c34r2-c14c34k2-c24(11)(11),,,,,,,3[x,y,z];,[8]3M1,u1;N1u2V=M1+1u1-(N1+2u2),12,[(M1+1u1)-(N1+2u2)]u1=0[(M1+1u1)-(N1+2u2)]u2=0(12)12,V,3Dxyz=|(P1+1u1)+(Q1+2u2)|2(13),,z=z1,xy,;2DSP(ADSP2BF561)531,:DSP©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[6](PPI)DSP,(DMA)DSPFPGADMACPU,CPU,DMA,CPU,,,CPU,,,,PPI,PPI,DMAPPIAB(Semaphore)AB,,,B,A,PPI1,BDMAPPI1,ADMAPPI0,,DMAPPI0PPI1,,AB,,AB,,A,,,A,B,,A3,:(1)A:,,ASVD,(2)B:,1,,6336©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(3)C:,1,,x=(BTB)-1BTb,(4)D:,,,,(IRLED),1‰2‰34IRLEDd12=25.85mm,d23=43.66mm,d34=60.85mmdijij5(a)(b)53.1,,,,100,,,100,54(Executioncy2cle),11//msA787253113.12B700400411.67C55276769.21D51850198.64600MHz,1/(600106)s=(5/3)ns,4,131,CD,14ms3.2,,,,,15,234ABC23415,XYZ,,ZXY567,0.15mmRMS,,C2A1XYZd12d23d34/mm8.18-27.40765.6825.9043.6860.82/mm0.0390.0890.1140.0400.0470.0973B1XYZd12d23d34/mm8.18-27.45765.6325.8343.6360.88/mm0.0380.0510.1430.0740.0730.0474C1XYZd12d23d34/mm8.17-27.34765.7425.8843.6060.87/mm0.0520.0440.1490.0700.0630.051,731,:DSP©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.:[1]HuishDC.Theoreticalandexperimentalperformanceofagen2eralstereovisionsystem[D].Logan,Utah:UtahStateUniver2sity,2006.[2],.[J].,1997,2(1):1723.[3],,.[J].,2006,32(1):2430.[4]CuadradoC,ZuloagaA,MartinJL,etal.Real2timestereovi2sionprocessingsysteminafpga[C].The32ndAnnualConfer2enceoftheIEEEIndustrialElectronicsSociety,Paris,France,2006.34553460.[5]MasraniDK,MacleanWJ.Areal2timelargedisparityrangestereo2systemusingfpgas[J].LectureNotesinComputerSci2ence,2006,3852(1):4251.[6]ZhouP,LiuY,WangYT.Multipleinfraredmarkersbasedre2al2timestereovisionpositioningsystemforsurgicalnavigation[C].IEEEInternationalInstrumentationandMeasurementTechnologyConference,Singapore,2009.692696.[7]HartleyR,ZissermanA.Multipleviewgeometryincomputervision[M].Cambridge:CambridgeUniversityPress,2004.312313.[8]ShapiroLG,StockmanGC.Computervision[M].UpperSad2dleRiver,NewJersey:PrenticeHall,2000.463465.8336©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.