A Real-time Tracking System For Video Targets Based On SoC FPGA

Video target tracking has a wide range of applications in the field of the intelligent monitor,robot vision guided system,guidance weapon,military security and so on.With the increasing accuracy and high speed of the tracking system,traditional hardware cannot meet the challenge.SoC FPGA combines the high speed of FPGA and flexibility of ARM processor,is an important direction recently.It has important significance and considerable application prospects to realize the target tracking system using SoC FPGA.The paper completed the work of the system development,including camera driver,hardware and software platform of image processing,and target tracking algorithm,the main work is as follows:(1)This paper designed camera driver and video capture module.Camera driver power up the camera,and configure it through the I2C interface;video capture module collect the video data and do simple processing.The format of the video is 16 bits RGB565,the size is 640*480,and the frame rate is 30fps.(2)This paper builded hardware platform based on SoC FPGA.Its main function is the video input and output,storage and processing,including video input module,video processing system and video output module.The video input module receives the video data from the FPGA fabric and converts it into the Avalon-ST video format;the video processing system processes the video data,including the FPGA hardware processing and the software processing;the video output module converts the Avalon-ST video into a separate synchronization video format,then output to the VGA monitor.(3)This paper developed software platform based on the hardware design.The function of the software platform is to control the entire system,obtain video data,perform algorithm processing and display.The software platform mainly includes:system control module,image reading and writing module and algorithm module.The system control module obtains the hardware status and controls the whole system;the algorithm module analyzes the video data,detects the moving target and tracks the target;the image reading and writing module obtains the video data and display the tracking result,the system adopts two threads respectively to achieve the input and output data.(4)This paper realized the target detection and tracking algorithm based on the hardware and software platform.The implementation of the algorithm includes FPGA hardware processing,processor software processing,and processor call hardware accelerators to speed up computing-intensive tasks.The experimental results show that the system has a high real-time and accuracy,meet the design requirement.