Researching | Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ

Optical Instruments, Volume. 46, Issue 3, 73(2024)

Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ

Chongbing ZHANG... Xiaowei LI, Ningyang WEI, Yue CHENG and Jin LI |Show fewer author(s)

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China Ship Scientific Research Center, Wuxi 214082, China

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Fig. 1. Overall system block diagram

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Fig. 2. RTL circuit of overall system structure

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Fig. 3. Timing diagram of two OV5640 working signals

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Fig. 4. AXI protocol timing diagram

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Fig. 5. Timing diagram of AXI4-Stream interface signal

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Fig. 6. The workflow of LwIP

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Fig. 7. Prototype of underwater binocular camera

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Fig. 8. Real time image acquisition and display with binocular cameras

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Fig. 9. Stereoscopic correction of binocular images

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Table 1. Calibration parameters for binocular cameras

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Table 1. Calibration parameters for binocular cameras

设备	左相机	右相机
内参矩阵	$ \left[ $\begin{array}{ccc} 1 514.966 84 & 0.812 33 & 180.731 56 \\ 0 & 1 515.988 35 & 315.154 62 \\ 0 & 0 & 1 \end{array}$ \right] $	$ \left[ $\begin{array}{ccc} 1 521.277 90 & 0.637 67 & 155.092 74 \\ 0 & 1 522.239 42 & 352.101 39 \\ 0 & 0 & 1 \end{array}$ \right] $
畸变系数	$ \left[ $\begin{array}{ccc} - 0.085 41 & 0.018 13 & 0.292 76 \end{array}$ \right] $	$ \left[ $\begin{array}{ccc} - 0.091 24 & 0.036 78 & 0.203 14 \end{array}$ \right] $
旋转矩阵	$ \left[ $\begin{array}{ccc} 0.999 43 & - 0.033 05 & - 0.007 17 \\ 0.033 01 & 0.999 44 & - 0.005 74 \\ 0.007 36 & 0.005 50 & 0.999 96 \end{array}$ \right] $
平移矩阵	$ \left[ $\begin{array}{ccc} - 57.483 61 & - 1.230 10 & - 0.685 21 \end{array}$ \right] $

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Chongbing ZHANG, Xiaowei LI, Ningyang WEI, Yue CHENG, Jin LI. Design of a real-time underwater binocular image acquisition and processing system based on ZYNQ[J]. Optical Instruments, 2024, 46(3): 73

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Paper Information

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Received: Dec. 28, 2023

Accepted: --

Published Online: Jul. 31, 2024

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DOI:10.3969/j.issn.1005-5630.202312280140

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology