Binocular Ranging Design Based on FPGA

Abstract

In daily life, distance measurement is everywhere. In order to accurately measure the distance information of the target object, a system design for binocular ranging based on FPGA is proposed. The internal and external parameters of the binocular camera are determined through the Zhang Zhengyou calibration method (two-dimensional target), and then the basic model of the binocular camera is derived. The data model of the binocular camera is derived based on the binocular camera model. The calibrated binocular camera parameters are used to perform binocular correction and distortion correction on the image data collected by the binocular camera. The corrected left and right eye views are matched with pixel points through a stereo matching algorithm to form a disparity map. The principle of triangle similarity is used to estimate the target distance and obtain the coordinate system of the target. Finally, the data is measured by deploying it on the FPGA development board.