| Omni-directional vision with a large field of view, is widely used in various fields, such as robot navigation, space exploration, video surveillance, video conferencing and virtual reality. A complete panoramic vision system consists of panoramic visual sensors, image capture part, image processing part, the image display and other components. Traditional panoramic vision system uses the computer as image acquisition, processing and display equipment. Sometimes the volume, power, real-time have a certain requirement, the traditional is difficult to meet the design requirements. Therefore, solutions for embedded systems can simultaneously achieve a small size, relatively low power consumption and real-time processing requirements.In this set of panoramic vision system, the panoramic visual sensor consists of a curve-surface reflector, a len with alterable focus and a high-resolution camera. Image acquisition, image processing and image display are achieved by the processing platform. It is the important and difficult part of the system. High-resolution panoramic image processing platform, from hardware design to software design have adopted the popular method of top-down design. From the overall design to the subdivision module level, the design process will not depart from the main line, and the design of each module in the future can be fully utilized. Image processing platform FPGA-based hardware system consists of the core board and peripheral board. FPGA as the core processing chip can have the feature of parallel processing and programmable hardware. Core board mainly consists of the following components:FPGA minimum system, various types of memory (Flash, SDRAM and SRAM), debug and configuration circuit, the external expansion interface and power supply. Because the core board is an independent modular design, for functional requirements for different systems, just the peripheral board is need to design without the need to re-design of core board. The peripheral board includes the following part:Camera Link image acquisition circuit, image display circuits, communication circuits, memory circuits, circuits for interaction between human and the system and power. Core board with the peripheral boards achieve the high-resolution camera image acquisition, image processing and image display.With the SOPC technology, system software design is mainly design a chip based on the Avalon bus architecture system. The system uses 32-bit soft-core processor Nios II. Nios II processor and other peripherals connect to and communicate with the Avalon bus, to achieve image acquisition, display and handling of the process. The focus of the system is user-defined image capture and image display peripherals. Image acquisition peripheral is requested to get the image data based on the timing of high-resolution panoramic camera and to store image data in the image cache waiting for subsequent processing and display; Image display peripherals is designed to complete the original panoramic image display, and the display of expanding panoramic images. Image acquisition and display process use ping-pong operation, which turns the two peripheral to access a different image cache at the same time, and capture and display action did not affect each other.Finally, after debugging software at the actual hardware, the functions of capturing 2048×2048 resolution images in real-time from the high-resolution camera and displaying partial panoramic images, overall panoramic images and the images processing with the expanding algorithm by hardware in a 800×600 LCD are realized. |
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