DSP And FPGA Cooperate Dual-resolution Catadioptric Panoramic Imaging And Processing System

The panoramic imaging technology, which can obtain 360-degree around images with large view field easily and quickly, takes broad prospects in the application of military reconnaissance, video surveillance, robot vision and many other fields. For example, in order to improve the capability in pre-caution and survival, the west forces have equipped their armored vehicles, submarines and other weapons with panoramic imaging systems.However, there are two main problems in the application of the present panoramic imaging and processing system. Firstly, the users can search targets in omni-directional images, but they can't focus on their interest region. Therefore, it can't satisfy the requirement of both the whole omni-directional images and the interest region. Secondly, in the current embedded system, it's difficult for real time high resolution image processing. As a result, a dual-resolution catadioptric panoramic imaging and processing system (DCPIPS) is proposed, which uses DSP for main processor and FPGA for associate processor, can easily obtain two kinds of following views: One is a common resolution image of the whole 360-degree scene, the other is a high-definition image of important region. What is more, DCPIPS is capable of real time processing, including image capture, colour space conversion, panoramic unroll, view mode switch, and display.There are five key works in this paper. Firstly, a dual-resolution catadioptric panoramic imaging method is proposed, which can obtain the common resolution images of the whole 360-degree scene and the high-resoluion images of important region. Secondly, a real time technique is designed for image capture and colour space conversion, including pipeline structure, depositing frames by ping pong control mechanism. Thirdly, we put forward some methods to improve the speed of panoramic unrolling, including dividing image into blocks and unrolling the image blocks, time-hidden data access technology, FPGA pipeline technology. Fourthly, in the way of reverse engineering wave analysis base on EMIF bus, we design a high speed dual-core DMA communication (4.704Gbps) between DSP and FPGA. Finally, we succeed in real time displaying high-definition images of users'interest region, and make the swithing of two kind views flexible.Experiments indicates that the processing speed is real time, when dealing with 1024*1024 source image to 1280*256 target image, the result is 45fps, and which is up to 58 fps, when magnifying interest region 16 times, a 640 * 512 displayed image. So, the DSP+FPGA dual-resolution catadioptric panoramic imaging and processing system satisfies the practical requirement.