Design of FPGA-based image acquisition system for Advanced robotic applications
Φόρτωση...
Ημερομηνία
2012
Συγγραφείς
Καλόμοιρος, Ιωάννης
Τίτλος Εφημερίδας
Περιοδικό ISSN
Τίτλος τόμου
Εκδότης
ΤΕΙ Κεντρικής Μακεδονίας
Δικαιώματα
Attribution-NonCommercial-NoDerivatives 4.0 Διεθνές
Άδειες
Παραπομπή
Παραπομπή
Περίληψη
The hardware/software implementation of a novel
image acquisition system, designed to host advanced processing
techniques, is introduced. The system is suitable for robotic
vision applications, such as stereo image processing, visual
odometry etc. The architecture is based on a Cyclone IV Altera
FPGA device that constitutes the main processing unit and on a
32–bit Microchip PIC32 microcontroller as a complementary
processor. The microcontroller undertakes peripheral control
tasks, relieving valuable resources from the FPGA. The system
can capture image data simultaneously from two CMOS sensors
and store necessary image rows in FPGA's on chip memory.
Moreover, it uses a FIFO-to-USB module to transfer plain or
processed image data to a host computer. The system also
supports VGA connectivity. Operational tasks such as frame
grabbing, image processing and communication with high-speed
USB module are implemented in VHDL. A host computer
interface has also been developed in order to test the overall
system in action. The system is evaluated in terms of real-time
performance and the advantages emanating from the proposed
architecture are discussed.