基于FPGA的车载双目系统  

Vehicle binocular system based on FPGA

作　　者：张方义 赵刚 刘海英 卢兴华 于志豪[2] ZHANG Fang-yi;ZHAO Gang;LIU Hai-ying;LU Xing-hua;YU Zhi-hao(College of Transportation,Shandong University of Science and Technology,Qingdao 266510,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266510,China)

机构地区：[1]山东科技大学交通学院,山东青岛266510 [2]山东科技大学机械电子工程学院,山东青岛266510

出　　处：《计算机工程与设计》2019年第10期2805-2812,2854,共9页Computer Engineering and Design

基　　金：山东省自然科学基金面上基金项目(ZR2017MEE072)

摘　　要：为满足车载双目系统对立体匹配算法高精度、高实时性的要求,设计一种基于现场可编程逻辑门阵列(FPGA)的双目视觉系统。在算法方面,提出适于硬件加速的立体匹配算法,该算法具有匹配精度高,计算结构简单等优点;在硬件实现方面,利用FPGA并行处理、流水线操作的特点实现双目系统图像采集、缓存、立体匹配等功能,提高双目系统的实时性。经验证,该系统可在单片FPGA上实现,其对VGA格式的图像进行采集和立体匹配的速度可达60fps。To meet the requirements of high accuracy and real-time performance of the stereo matching algorithm in vehicle binocular system,a binocular vision system based on FPGA was designed.In the aspect of the algorithm,a stereo matching algorithm suitable for hardware acceleration was proposed,which owned the advantages of high matching accuracy and simple calculation structure.In the aspect of hardware realization,the features of parallel processing and pipeline operation on FPGA were used to realize the functions of image acquisition,cache and stereo matching,which improved the real-time performance of the binocular system.It is verified that the system can be implemented on a single FPGA.Besides,the speed of acquisition and stereo matching for VGA image can reach 60 fps.

关 键 词：双目系统 立体匹配 精度 实时性 现场可编程逻辑门阵列 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]