摘要
Abstract
With the rapid development of the robotics industry,robotic technology has emerged as a new driving force for enhancing pro-ductivity,particularly highlighting the importance of technologies such as 3D reconstruction and obstacle avoidance navigation.However,active 3D imaging technologies based on Time of Flight(ToF)and structured light suffer from limitations such as low resolution,lack of original color information,and and susceptibility to ambient light interference,leading to suboptimal performance.Therefore,passive binocular stereo vision sensors,which can output dense depth and color information(RGB-D)in real-time,have been widely applied in fields such as autonomous robots,automobiles,and drones.Nonetheless,binocular stereo vision technology,which calculates disparity by mimicking human binocular vision for depth information,is computationally intensive and reliant on general-purpose computing plat-forms.This results in high energy consumption and latency for binocular stereo vision processors,limiting the technology's application in high-speed scenarios,small robots and edge computing.In recent years,binocular stereo vision processors integrated with hardware ac-celerators for stereo vision algorithms have gained significant attention in both academia and industry.This article systematically ex-plains the theoretical foundation of binocular 3D stereo vision and its application examples in robotic stereo vision in the first section.It then introduces the structural components of binocular stereo vision processors,including core parts such as image acquisition,camera calibration and correction,and stereo matching.For the convenience of stereo vision hardware developers,this paper reviews the basic concepts,research status,challenges,and future trends based on the core components of the binocular stereo vision system,with a spe-cial focus on comparing new hardware computing architectures.关键词
机器人/立体视觉/视觉避障导航/图像信号处理器/硬件架构/硬件加速Key words
robots/stereo vision/visual obstacle navigation/image signal processor/hardware architecture/hardware acceleration分类
信息技术与安全科学
