Research On Signal Processing Of Binocular Ranging Reconnaissance System

Binocular ranging is a kind of method that humans use two eyes to perceive the distance.It has broad application prospects in military reconnaissance because of no requirement of a lot of prior knowledge and the advantages of good concealment,low power consumption,simple structure and high reliability.In this paper,the signal processing of the binocular ranging reconnaissance system is deeply researched from two aspects of hardware circuit design and software function implementation.Firstly,devices selection such as binocular cameras and lenses is determined by analyzing system indicators and functional requirements,and the rationality of the parameters was demonstrated.In the early stage a simple binocular ranging system was built on the DM8168 development board.The application software designed with the architecture of ARM control + DSP processing completed the hardware verification of the algorithm.Secondly,an image processing board based on FPGA is designed through the circuit design of power management and control interface,FPGA chip configuration,memory module,video input and output interface,.It provides a hardware platform for software implementation of system signal processing.Thirdly,functional modules are divided on the image processing board,according to the functional requirements of signal processing.Video conversion and communication control functions are achieved based on FPGA.It converts SDI input to OLED output by intercepting frame data through dual-port RAM ping-pong operation.In order to improve the real-time performance of the system,a fast matching ranging algorithm for adaptive templates is proposed.The algorithm by uses the eigenvalue of the Hessian matrix to extract the feature points,and adaptively intercepts the template image based on the feature points,eliminating the tedious operation of template frame selection.The search window is determined according to the order constraint,the polar line constraint and the ranging range constraint,which greatly speeds up the matching.The migration of the ranging algorithm is completed by the embedded software and hardware programming based on Nios Ⅱ,and the passive ranging function of binocular vision is realized.Lastly,the basic functions of the signal processing module of the binocular ranging reconnaissance system were tested.