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 

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rfac

e

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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