介绍了立体视觉系统对点目标的四种定位算法：齐次方法,直接解正规方程的非齐次方法,利用广义逆求解的非齐次方法,解析几何方法。提出了基于双核DSP的并行交互运行流程以实现对目标的2D位置校正和3D定位,通过实验分析了以上四种定位算法的实时性和精度。实验结果表明,采用直接求解正规方程的非齐次方法处理一帧含有4个点目标的图像所带来的延迟仅为9.21ms,定位精度为0.15mm RMS,系统的运行速度和精度可以得到兼顾。

Four positioning algorithms are discussed as follows: homogeneous method, nonhomogeneous method by solving the normal equation directly, nonhomogeneous method by generalized inverse, analytic geometry method. A dual-core DSP parallel and interactive cross work is proposed to realize 2D position correction and 3D positioning. Experiments are carried out to investigate the real time and accuracy of the algorithms. Experimental results show that when a frame of image with four point targets are processed by the nonhomogeneous method by solving the normal equation directly, the latency between the original data and the positioning results are 9.21ms, and the accuracy is 0.15mm RMS, which shows satisfactory real time and accuracy performance.