本文为布拉格捷克技术大学（作者：Bc. Vojtěch Dokoupil）的毕业论文，共86页。

毕业论文主要研究利用ARM Cortex-M4单片机进行嵌入式图像处理。本论文的目的是展示如何容易地将各种CMOS图像传感器连接到一个可连续工作的开发工具包中，包括硬件和软件部分。开发包作为主要的图像处理单元。论文的其中一章涉及简单的图像处理，这应该作为简单图像应用的基础。另一部分的工作集中在CMOS传感器和STM32F429单片机之间通过标准DCMI和i2c接口进行通信。测试并实现了三种CMOS传感器的不同读出模式。最后给出了一个通过USB VCP访问传感器和微控制器的PC演示应用程序。描述了使用三角剖分的摄像机实际应用案例。开发的硬件连接已经设计好的部分传感器和微控制器以及显示模块。作品的输出应作为视像测量实验室教学用的通用摄像机，它成本低，易于购买。最后提出了一种利用3D打印技术将镜头连接到CMOS相机模块的机械解决方案。

Diploma thesis is focused on embeddedmicrocontroller image processing using ARM Cortex - M4 microcontroller. The aimof the thesis is to show how to connect easily various CMOS image sensors to aserially produced development kit, including both HW and SW part. Thedevelopment kit is used as the main image processing unit. One chapter of thework deals with easy image processing which should be used as a base for simplestudent's image applications. Another part of the work is focused on low-levelcommunication between CMOS sensors and STM32F429 MCU through standard DCMI andI2 C interfaces. Various readout modes of three CMOS sensor types are testedand implemented. Last but not least the demonstration PC application for accessto sensor and microcontroller through USB VCP is presented. Example ofpractical use of the camera using triangulation is described. The developedhardware for connecting of already existing parts of sensor and microcontrollermodules is shown as well. The output of the work should serve as a universalcamera for teaching purposes in the Laboratory of Videometry. It is low-costand easily reproducible. In the end an alternative mechanical solution forattaching lens to CMOS camera module using 3D printing is mentioned.

1. 引言

2. 输入条件与期望输出

3. 摄像机硬件

4. 摄像机软件

5. 示例应用：基于三角测量的物体高度确定

6. 连接到集成摄像头解决方案的其他应用

7. 结论

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