Research On Embedded Stereo Vision Image Acquisition System Based On Structured Light

Autonomous driving has been a research and application hotspot in recent years,and the environment perception technology of the road ahead is an important research content in the field of autonomous driving.Computer vision technology is an important tool for autonomous driving environment perception,but traditional computer vision is susceptible to environmental interference when collecting images,which affects the quality of image collection and subsequent algorithm processing.Structured light is an active light source,which can effectively reduce the interference of ambient light and improve the robustness of the system.This paper uses structured light and stereo vision technology to carry out research on environment perception technology in autonomous driving,and research on structured light and stereo image acquisition system based on embedded system technology to provide basic data support for subsequent algorithms.(1)An image acquisition system model combining structured light and stereo vision is proposed.The scanning grating is formed by the polygonal prism drum,and the binocular stereo data system is used to scan and image the environmental information in front of the road.Completed system analysis,scheme design,functional module division and design of each functional module.(2)The image acquisition control system is completed based on embedded system technology.The acquisition system is mainly composed of three modules: CCD camera acquisition module,grating generator module and central controller.The CCD camera module is responsible for capturing image information;the grating generator module is used to generate controllable and adjustable scanning gratings;the central controller module is responsible for system drive and control.The central control module is constructed with ARM+FPGA.FPGA is used as a co-processor,which mainly performs interface expansion and synchronous drive signal transmission.ARM is used as the main processor to control the sending and receiving of commands from the upper computer and the lower computer and realize the human-computer interaction function.The system is researched from two aspects: hardware design and software development.By analyzing the influencing factors of intelligent driving road environment perception,an embedded image acquisition system based on structured light is designed,the image acquisition system model parameters are studied,and the hardware circuit design and software drive development are carried out for the system function.Based on the analysis of the final experimental results,the structured light-based embedded stereo vision image acquisition system proposed in this paper can realize the image data acquisition in the process of intelligent driving road environment perception,and provide data guidance for the next intelligent decision-making.