Research On Visual Tracking System Of Intelligent Robot Based On DaVinci Technology

On the basis of "DaVinci technology", we design an intelligent robot vision track-ing system, taking into account the robot modular system design requirements. Thesystem is an embedded Linux systems. It has many common interface and powerfulscalability. On the system, we achieve the detection and tracking of moving target. Itcan effectively solve the problem that robotic visual processing mainly rely on the hostcomputer and improve the visual processing capabilities of the robot.The thesis mainly makes the following research works: the hardware design oftracking system, the study of moving target detection algorithm and moving targettracking algorithm, the construction of embedded systems Linux, image acquisitionexperiment, real-time display experiment, image preprocessing experiment, as well asmoving target detection and tracking experiment.In the design of the system hardware：on the basis of the CPU core board ofTMS320DM6446of the company as the core chip, design a video input and outputcircuit, the signal level conversion and hardware extension for part circuit, RS232serialinterface circuit, Ethernet interface circuit, USB interface circuit, SD card interfacecircuit and power module circuit of the system. Complete design of circuit schematic,design of the PCB and circuit board processing required for the design Gerber files forhardware with the high-speed circuit design software cadence.The moving target detection algorithm is researched and analyzed, as well as acommon background modeling algorithm. Combination of adjacent frame differencemethod and Surendra algorithm is selected as moving target detection algorithm used inthis article. Final mathematical morphology processing is carried out to detect the targetto get the moving target. The algorithm theory of Mean shift is elaborated. Mean shiftvector and its extended form is derived, and target tracking algorithm of Pap-basedcoefficient.The embedded boot-loader Uboot is transplanted and configured. The embeddedsystem Linux is embedded. The program is designed based on the Codec engine ofARM side to control the video input and output port, call the algorithm of DSP side andcontrol the communication with the host computer. The DSP-side moving targetdetection and tracking procedures are designed with a standard XDM-XDAIS.In the experiment, this system can be achieved communication with the hostcomputer, through the RS232serial port and Ethernet port, image acquisition, real-timedisplay as well as image preprocessing and moving target detection and tracking.This dissertation preliminary reached tracking system for intelligent design requirement and laid a foundation for the robot visual tracking thorough research andapplication.