以往大部份的影像處理系統，多是以個人電腦為基礎架構，然而隨著科技進步，數位訊號處理器（DSP：Digital Signal Processor）的功能比以往更加強大，傳統以個人電腦為基礎的影像處理系統，效率低且不適於獨立運作，而DSP所建構的系統（DSP-based System）在大量且複雜的運算處理上，準確度高且效能也高，同時體積小，方便獨立運作，能滿足大部分系統在「即時性」的需求，本論文利用德州儀器生產的數位訊號處理器TMS320DM642 EVM作為我們的開發平台，建立一套即時的雙眼視覺之目標物量測系統。在影像輸出與輸入的部份，我們利用EDMA（Enhanced Direct Memory Access）控制器開啟DMA通道，直接擷取與輸出影像資料，接著將擷取進來的影像用背景相減法得到移動物體區塊，計算影像特徵條件並經過判斷後，可偵測出目標物的影像，將影像的質心座標當作一組立體影像的對應點，根據雙眼視覺的原理，計算出目標物在立體空間中的三維座標，並利用DSP的Timer模組求出執行時間，計算出三維移動速率，最後將得到的目標物資訊透過RS-232傳送到一台個人電腦上的VB端，VB端會將接收到的資料顯示在視窗介面上，並儲存成文字檔案。系統完成後，我們可以從LCD螢幕上看到目標物的影像，並透過VB的視窗介面觀看目標物的即時資訊，同時也可以藉由VB所儲存的文字資料來分析目標物的移動軌跡與誤差率等。

Formerly most of digital image process systems are based on personal computer, the PC is high consuming power and lower efficiency of the system, so it’s not suitable for stand-alone systems. In recent years, the constant advancement in technology increased the processing speed of Digital Signal Processor (DSP) and expanded its functionality, DSP is highly accurate and efficient in processing high volume and complex algorithms, not only are DSP-based systems small size and suitable for stand-alone but also meet most systems’ requirement for real-time performance.
We combine TI TMS320DM642 EVM and two CCD (Charge Coupled Devices) to be the research developing platform for our binocular vision system and use EDMA controller to create DMA gateway so that we can capture and display images directly without using CPU’s resources. At first, the binocular CCD intercept two stereo images, then the system separates the target and the background from the pair images by using image processing methods, and then counts the center coordinate of each target images for stereo matching. By measuring the difference between two center coordinate of target images, the system can calculate the distance from the CCD base to the target object, and so do the 3-D coordinate and the moving velocity of target object, finally we transmit target information to VB through RS-232. After receiving the information, VB will display the information on the interface and save the information as a text file.

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