深度图像与彩色图像对齐算法将同一时刻深度相机产生的深度图像与彩色图像对齐,其在嵌入式平台的实时实现是3D应用小型化的重要步骤。基于AR9201平台的CEVA XM4 DSP具有低功耗、高计算的特点,本文结合CEVA DSP的指令特点,提出一系列针对D2C算法的优化方法,使其满足工程指标要求。工程实践结果表明,优化后的D2C算法在系统工程环境中表现良好,该优化算法经过DSP多核并行处理后,分辨率为960P的深度图像与彩色图像对齐,平均帧率达到30 fps,并且对齐精度满足工程需求。此外,该算法的优化方法也为其他图像处理算法在类似嵌入式平台的实时实现提供了参考。

The purpose of the D2C algorithm is to align depth image and color image both generated by depth camera at the same moment,its real-time implementation on the embedded platform is an important step of 3D application miniaturization.The CEVA XM4 DSP based on AR9201 platform is characterized by low power consumption and high computing capability.Combined with the instruction features of CEVA DSP,a series of methods are proposed for D2C algorithm optimization to meet the requirements of important engineering indicators.The engineering practice results show that the optimized D2C algorithm performs well in the system engineering environment,D2C frame rate of 960P resolution image reaches 30 fps on average after algorithm DSP vectorization.The proposed optimization methods also provided a reference resolution for the real-time implementation of other image processing algorithms on similar embedded platform.