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Tutorials to .com Mechine Embed Multi-DSP and FPGA-based real-time video tracking of dual-mode design

Multi-DSP and FPGA-based real-time video tracking of dual-mode design

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Introduction

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DSP based Video Board Programmable boards (up to 8 DSP) for video applications (OCR, H.264)
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Xilinx FPGA Boards Low cost OEM and development Boards Customized Module Development
www.trenz-electronic.de

FPGA design Create VHDL / Verilog Testbenches From Timing Diagrams

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LabVIEW on Blackn Standard BF548 Mixed Signal Board Starterkit, SDK, Reference Designs
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With the modern high-speed processors, the rapid development of image processing technology has become more mature. Among them, the moving target detection and tracking in video image processing, analysis of an important eld of application is the current cutting-edge research in related elds. Moving target detection and tracking in video technology, robot vision, trafc monitoring, visual warning, navigation and other civilian areas of the machine has a wide range of applications, while blocking re, television and infrared missile guidance and other video military has also played an important role in . Based on two-dimensional table in dsp and FPGA as the core device consisting of video recognition and tracking devices, can work in television or infrared images of two-band, tracking the achievement of the functional images. In this paper, the tracking algorithm and design of the tracking device can be resolved to some extent, low accuracy of the video track, the problem of slow processing speed, while the video tracking device can also be used as further control of image processing and tracking platform. 2, video tracking device hardware design Image processing is the most important real-time performance, reliability and accuracy. Slow for image processing problems, consider the hardware and software from both sides to resolve: First, choose high-speed DSP and FPGA as the core device; second is from the balance of real-time image processing and effects to select the optimal image processing algorithm. Reliability problems for the image tracking using complex dual-mode guided by the signal processor in accordance with the condence to select the tracking mode. Centroid tracking for image precision algorithms, to image-based tracking algorithm shadow images. 2.1 Video tracking device module of the image signal processing hardware In order to achieve real-time signal processing image information, we chose three high-speed DSP processor as the core. Which is used for information fusion TMS320C6416 [1], in the tracking module, the use of two relatively inexpensive to achieve some of TMS320C6201 parallel image tracking algorithm.

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The video tracking device for image signal processing hardware modules as shown in Figure 1 pose: to television image band as an example, the image acquisition module is a planar array CCD sensor cameras used to capture video image information. A / D conversion will be taken to the analog image signal 8-bit digital signal sent to FPGA processing, the camera sync signal to accept the line sync and eld sync signal is also sent to FPGA. Part of the results directly by the D / A converter to send the monitor display. SDRAM data storage area storing the background image data. FPGA to carry out all the way in the context of difference, 4 4 moving average, to go after the formation of the shadow of a moving target to which the signal after ltering TMS320C6201 implementation of a modied partition-based centroid tracking algorithm [2], another evacuation routes are ltered TMS320C6201 chip into another tracking algorithm performance, and then by the decision fusion module based on two-way signal TMS320C6416 condence to select the tracking mode to parallel compound dual-mode image tracking. Finally, the target location after the transformation of signals transmitted to the motion controller to control two-dimensional

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Multi-DSP and FPGA-based real-time video tracking of dual-mode design - Tutorials to .com FPGA Image Video FPGA for DSP Object Detection table for real-time tracking of moving targets. 2.2 Video tracking device motion control hardware modules Motion Control Module hardware constituted by the GPT table. GPT Series turntable to simulate artillery or radar tracking system, rotary movement system, which contains the electronic control box, two-dimensional digital turntable controller body and the three major sports. Turntable body mainly by the mechanical structure (including
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the PAN and TILT), driven by AC servo motor (two), harmonic reducer, helical gear, limit switches and other components. Electronic control box is equipped with AC servo drives, I / O interface board, switching power supply, switches, lights and electrical components and other major components. Motion Controller by GT-400-SV motion control card, GM-400-SV motion control card, such as user interface software components. Electrical and control system as an integral part of the core, GPT table monitoring equipment can be used as the basis for campaign platforms, but also as the development of rockets, missiles, torpedoes, and satellite and other high-tech sophisticated weapons platform simulation and testing. The system can be realized: positioning accuracy: 0.0069 ; Repeatability: 0.00056 ; speed: 0.01 ~ 90 / sec; Acceleration: 90 / sec2; itinerary: Pan direction of 176 ; Tilt direction of -15 ~ +50 ; load: 30kg. 3,1 video analysis algorithm tracking device

In accordance with the processing order, we will break down the whole process as shown in Figure 2. Image Acquisition Module: for video images A / D conversion, the formation of the original 256 gray-scale images, as the image information to be processed. The context of differential modules: the reconstruction of the background, and the completion of the differential and the current frame. Reconstruction in the context of least squares method based on time-domain recurrence formula to nish, this method needs only one storage image, and can be used to achieve recursion. To noise modules: application of the neighborhood to do the averaging method to achieve image smoothing lter [3], and the use of color ltering method to remove the shadow and so on. The above algorithms are directed at the characteristics of the FPGA, the FPGA design into a computing device and a dedicated algorithm. Centroid tracking module and related modules were used to track the centroid of two-dimensional projection method and the minimum absolute difference accumulation and the location of the target algorithm, the integration degree of condence in decision-making module of choice, at the same time signals on the target trajectory extrapolation tting and to achieve target in coincidence with the forecast loss of tracking, as well as tracking the depth of the loss of state transition and search under the control of the state table of two-dimensional eld of view of the slow scan found. This part of the characteristics for DSP using c language programming. Analysis of the main features of Algorithm 3.1 (1) the background difference method algorithm The context of differential [6] is to use the current differential image with the background image to detect movement of a regional technology, generally provide the most complete feature data, but the changes in dynamic scenes, such as the incident light, such as particularly sensitive to interference. Taking into account the camera moving slowly, relatively slow changes in background image, and moving objects in relation to the context of rapid change, so slow relative to the background image changes, it can be seen as the moving object is a background image of the random perturbation. For the device design requirements, we apply Kalman lter [4] in the zero-mean white noise that is, the degradation of formula fading memory recursive least squares method, to update and reconstruction of the background image, the fading time-domain recursive minimum b recursive multiplication:

(2) color lter to the shadow algorithm If the image has a sports division of the shadows and fragments, derived from the image segmentation is often inconsistent with the actual target, resulting in less partition or the phenomenon of over-segmentation. As the shadow of the gray value of pixels in a localized area of change is not great, so is the color lter structure that contains the shadow of the template, re-use this template with the differential results of the operation of logic and thus the shadow detection. This algorithm is relatively simple, the implementation of fast, processed and semi-no need to distinguish between the shadow of the shadow, and can move the shadow and the shadow of the background have found out, but the parameters in the template according to the actual situation and experience to decide. As a result of the shadow of a static object is not moving, so the target can be classied as static background. By the formula (2) can detect the target dispatch.

(3) centroid tracking algorithm Centroid tracking is to track the wave inside the whole image binarization, heart-shaped with the goal of seeking ways to obtain the target location parameters. Value is as a result of heart-shaped target area relative to normalized values, the centroid value from the target size, shape and details of the restrictions on the distribution of gray. At the same time, the calculation of centroid tracking is quite simple. However, the centroid tracker strenuous exercise by the goals or targets are the more serious the effects of block, aiming at long-range tracking system drift is the main

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Multi-DSP and FPGA-based real-time video tracking of dual-mode design - Tutorials to .com one error. This is also our goal of trajectory tting algorithm used to extrapolate the location of moving targets, and parallel-tracking work-related reasons. As the popularity of centroid algorithm, the tracking device directly improved centroid tracking algorithm, with the goal of adaptive peak detection algorithm for calculating the system reliability and to achieve the best combination of real-time value. (4) related to the tracking algorithm Related follow-up [5] is the target image and the importation of images related to computing, through the operation of the search results for each region to deal with access to relevant peak, thereby identifying the target location in the input image. Objectives in the context of the complexity of image background and objectives, as well as gray-no signicant difference occasions, the relevant follow-up with better anti-interference ability, able to cope with a certain degree of deformation and the gray-scale distortion, complex scenes can be specied in the stability of target tracking, objectives and cross-block the effect of better memory, so we used the minimum absolute difference based on two-dimensional cumulative and algorithms related to image feature matching algorithm for identication, similarity measure as follows:

(5) The combination of dual-mode algorithm [6] Table 1 Comparison of advantages and disadvantages of two models

As shown in table 1, as a result of heart-shaped track and track their own advantages and disadvantages associated with a greater complementarity [7]. Centroid tracking algorithm using the DSP and related tracking algorithm to match the work of the DSP at the same time, in accordance with their respective methods of image segmentation partitions the target and background characteristics of the target samples, the output target tracking information. Finally, check TMS320c6416-dominated, and the related follow-up mode to match the peak of the correlation function structure related to the location of the target centroid condence level and condence level tracking model for condence judgments in order to decide which option to follow-up control signal, at the same time inappropriate follow-up re-setting module. (6) target temporarily lost track of the target extrapolation method Goals in the process of tracking the target in the eld of view may be lost by short-term shelter; In addition, when the goal of staying in the eld of view, the objectives may be integrated into the background, will appear the phenomenon of missing the target. For both cases, when the goal of short-term shelter, according to the previous frame storage memory and the frame of the target information, the use of differential linear extrapolation method of tting projections target the location of the next moment. When the goal of staying in the eld of view, the rst goal was blocked by the treatment, when limited extrapolation step, or extrapolated to the time the target has not yet close to the border, then to determine the goals to stay in the eld of view, mark the location of stay, when the target again to continue to complete the track. 4, system analysis For the realization of automatic tracking and orderly, we determine the tracking system between the state and the state of the conversion conditions. Tracking the status of the system there are four: S0 search system occurred in the initial state of the work or the loss of phase objectives. S1 to capture the state of the system found in the target state. Normal S2-state system to track the target in the normal tracking. S3 occasionally lost track forecast, the system through self-learning targets on the current forecast track, and try to capture the target. Conversion of the system there are three conditions: C1 target acquisition. C2 target accidental loss, refers to an instant loss of the target, the movement is still predictable. C3 target depth of the loss, saying the target is lost for some time, the unpredictability of their movement

System state as shown in Figure 3 conversions. Tracking device in the video after the restart and initialization, access to search the state of S0, the system found in accordance with the laws of certain So a search; when centroid tracking module found a moving target, then capture the state to enter S1; by the tracking module to identify the target, after conrmation of normal tracking state S2; occasionally when the target is lost, the system through selflearning targets on the current forecast track, and try to capture the target, into the forecast track the status of S3; completely lost if the target is to change the search strategy, re-search to make it possible to capture the target again.

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Multi-DSP and FPGA-based real-time video tracking of dual-mode design - Tutorials to .com

5, Conclusion The video tracking device can be completed in the design of moving target detection and tracking, the preliminary experimental results show that the DSP and FPGA-based hardware to achieve real-time algorithm for the system performance greatly improved. Dual-mode image tracking system suitable for a wide range of algorithms in the context of mobile target tracking, adaptive ability, and anti-interference performance, and has targeted again after a brief loss of ability to capture and enhance the credibility of the track. However, the design proposed in the following two areas for further research. First, consider the device context of the military applications, the needs of the target, especially in distant goals of relatively high speed in order to trigger the system to capture, it does not take their own camera to track motion compensation at the time [8]. Otherwise, it must be included in the camera motion estimation and compensation; Second is the ability to identify moving targets need to be strengthened, in setting specic goals on track, especially the tracking of multiple moving targets, do not have the ability to distinguish between the need to improve to be able identication of the target set in the track and set a target to complete the follow-up.

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