Study On The Detection Technology Of The Color Spherical Target Based On FPGA

The target detection technology is not only used in military field, but also has extensive application in the field of security,traffic, police, medical and machine vision etc. Especially in machine vision, is a hot research topic in recent years. With the in-depth study of robot, the robot how to improve the speed of detection is the key problem.The biggest feature of the FPGA is that it has powerful parallel processing ability, it can improve the real-time performance and speed in the target image detection. In view of the unique advantages of the FPGA, the research of the color spherical target detection based on FPGA is studied in this paper.In this paper, using the FPGA development board with expansion board CMOS camera and TFT-LCD display device set up the experimental hardware platform to study the issue and verification, the detection of the red spherical target based on FPGA is finally accomplished. The specific work is divided into two parts. In the first part, the correlation algorithm of the color spherical target detection technology is analyzed and studied on the MATLABR2010 a. Firstly, the gray scale of the target image is made, which reduces the memory and reduces the computation. After that, the gray image histogram equalization is carried out, and the image sharpness is enhanced. The target image is smoothed by fast median filtering, and the noise points are eliminated effectively. To sharpen and binary process the smoothed image, so as to achieve goals and played down the role of background. Finally, the target image is processed by the bimodal threshold segmentation and corrosion operation method, and the green spherical target is detected. The second part is to detect the color spherical target on the FPGA. The successful algorithms on the MATLAB is transferred to the FPGA, transformed into the Verilog hardware description language that recognized by FPGA and divide the function modules. The main control chip is Cyclone III EP3C40F484 series made in Altera company, CMOS image sensor OV5640 as the acquisition module, the output of the target detection module is selected by TFT-LCD. The system design includes the image acquisition module design, the DDR2 SDRAM module design, the target detection module design, the display module design. On the ModelSim, the software design is debugged, and the Verilog HDL program of the target detection algorithm is successfully downloaded to the FPGA development board through the USB-Blaster. Finally, the detection of the red spherical target is realized.The research shows that this color spherical target detection algorithm is correct and feasible, using FPGA to achieve the target detection is well resolved real-time and parallel issues. This research has some theoretical reference value for the further development of the soccer robot, and can also be used in the daily monitoring system.