Abstract:The nano-UAV has the advantages of small size and low power consumption, and it has important application prospects in the fields of Internet of Things, intelligent perception and so on. Visual scene datasets play an important role in training airborne algorithms for such tasks as target detection and target tracking of nano-UAV. Due to the limitations of volume and power consumption, scene data collection using the UAV on-board visual system has some problems, such as slow frame rate, data compression required in the transmission, etc., which results in the data set built does not match the actual image processed by the airborne algorithm. Therefore, in order to build a high-quality data set, the image acquisition system is designed to match the visual scene data of nano-UAV . The system obtains image data through the module made by low-power image sensor HM01B0, completes image data processing and image sensor control through the PL unit of ZYNQ, and completes image data storage and scheduling between tasks by the PS unit. The experimental results show that the image acquisition system can reach a maximum acquisition rate of 45 frames/s at 320*320 resolution, which matches the acquisition rate of the image of the nano-UAV on-board visual system, and has a clear image quality, which can meet the requirements of nano-UAV visual scene dataset construction.