相对位姿测量解算的DSP实现

摘要

To improve the speed and reduce the volume in position and attitude measurement,a real-time image ac-quisition and processing system based on TMS320DM6437 digital signal processor was designed.The Video Process SubSystem of TMS320DM6437 and ping-pong operation are used in processing the raw data acquired by CMOS im-age sensor to reduce the volume of system and improve the frame rate.The software and hardware of the system were debugged and the experiments of position and attitude measurement were carried out.When the frame rate of camera is 40fps,system can complete the real-time solution.Experiment results show that the designed system is reasonable and feasible in applications.%针对运动目标位姿测量中小型化和快速化的问题,设计了以TMS320DM6437数字信号处理器为核心的图像处理系统,实现了图像的实时采集和处理.采用乒乓缓冲技术,利用TMS320DM6437的视频处理子系统直接对CMOS采集的原始数据进行处理,有效地减小了系统尺寸并提高了帧率.最后对系统进行了软硬件调试和运动目标的位姿测量实验,在相机帧率为40 frame/s的情况下,可以完成实时解算,表明设计方案具有一定的实用价值.