real-time video computing with a fpga - 2009.rmll.info2009.rmll.info/img/pdf/rmll09_cam_fpga.pdf ·...
TRANSCRIPT
Real-time video computing with a FPGA
Rémy Blanchard – Rob'Otter Association
IntroductionRob'Otter is an association which participates
in the French and European robotics cup.
This project, named "Cameramea", is part of Rob'Otter's current robot.
This project was aimed at a general purpose use.
Find the code on Google Code:
http://code.google.com/p/cameramea/
Summary
1. Project Overview
2. FPGA?
3. Image processing basics
4. Design sample
5. Applications
6. Perspectives
Project OverviewAim:
Creating a modular video system matching customer's needs
Hardware
IP on a FPGA
Codesigned with an embedded Linux platform
Uses a generic interface: Wishbone
Using an ARMadeus APF
FPGA?A FPGA is a chip with unconnected logic
elements.
VHDL aims at describing the connection between logic elements.
FPGAs allow parallel computing of information.
Image processing basicsColor spaces
There are many others color spaces but the one to use depends on the targeted application field.
RGB:Correspond to the 3 color components.It's the reference color space.
HSL:Allows extraction of color & light extractionComplex conversion function from RGB
Image processing basicsThreshold
Light image
Y > 170
Extracted areas
Image processing basicsErosion - Dilation
Original
Dilation
Erosion
Design sample
Cam
era
inte
rfac
e
E[.]
E[.]
E[.]
R
G
B
Y
G
B Col
or s
pace
sw
itch
Camera control signals
H Thre
shol
d
Ero
sion
Wishbone interface
i.MX interface (ARMadeus APF9328 specific)FPGA
Oth
ers
trea
tmen
ts
i.MX
Design sample
Original picture After 3px*3px averaging
Design sample
Hue Light
Design sample
Green threshold Red threshold
Design sample
Posterosion Green Posterosion Red
Applications
Computer interactions
Process control
Robotics
PerspectivesDevelopment of new blocks
dilation, opening, pixel difference, ...
Testing the blocks via VHDL testbench and physical implantation
Documentinghow to use, performance, device
...
Any questions ??
http://code.google.com/p/cameramea/
Rémy Blanchard – Rob'Otter Association