本文選題：運(yùn)動(dòng)目標(biāo)檢測(cè) + FPGA��； 參考：《內(nèi)蒙古大學(xué)》2017年碩士論文

【摘要】：隨著計(jì)算機(jī)視覺(jué)技術(shù)的快速發(fā)展與智能化程度的提高,機(jī)器人大賽也隨之廣泛開(kāi)展起來(lái)。機(jī)器人涉及自動(dòng)控制、人工智能和機(jī)器人視覺(jué)等技術(shù),在比賽中機(jī)器人主要是通過(guò)攝像頭實(shí)時(shí)采集圖像來(lái)感知環(huán)境信息,并分析視頻信息做出決策。因此準(zhǔn)確地掌握周圍環(huán)境信息并識(shí)別運(yùn)動(dòng)目標(biāo)是機(jī)器人穩(wěn)定、快速地做出相應(yīng)動(dòng)作的關(guān)鍵。本課題基于華北五省大學(xué)生機(jī)器人大賽中機(jī)器人武術(shù)擂臺(tái)賽,為使機(jī)器人在比賽中能夠迅速獲取對(duì)方的運(yùn)動(dòng)狀態(tài)和位置,設(shè)計(jì)運(yùn)動(dòng)目標(biāo)檢測(cè)系統(tǒng)。課題以算法的硬件實(shí)現(xiàn)為內(nèi)容,應(yīng)用FPGA在數(shù)據(jù)處理上的優(yōu)勢(shì),實(shí)現(xiàn)視頻序列運(yùn)動(dòng)目標(biāo)檢測(cè)。系統(tǒng)設(shè)計(jì)包括系統(tǒng)硬件集成和功能實(shí)現(xiàn)兩部分,主要工作在于各硬件模塊的驅(qū)動(dòng)聯(lián)接以及運(yùn)動(dòng)目標(biāo)檢測(cè)算法的硬件語(yǔ)言實(shí)現(xiàn)。本設(shè)計(jì)是基于FPGA技術(shù)實(shí)現(xiàn)視頻圖像處理,最終實(shí)時(shí)顯示運(yùn)動(dòng)物體的二值圖像。論文首先進(jìn)行系統(tǒng)方案的設(shè)計(jì),搭建整個(gè)系統(tǒng)的框架。整個(gè)系統(tǒng)按功能劃分為圖像采集與顯示和運(yùn)動(dòng)目標(biāo)檢測(cè)兩個(gè)單元,圖像采集與顯示包括圖像采集、I2C配置、圖像格式轉(zhuǎn)換、預(yù)處理、SDRAM存儲(chǔ)、及VGA顯示模塊。視頻采集與顯示單元實(shí)現(xiàn)I2C配置攝像頭將實(shí)時(shí)采集圖像信息傳送到FPGA,在FPGA中實(shí)現(xiàn)圖像的灰度化、濾波預(yù)處理、SDRAM存儲(chǔ)以及VGA顯示。運(yùn)動(dòng)目標(biāo)檢測(cè)單元是根據(jù)SDRAM存儲(chǔ)結(jié)構(gòu)設(shè)置其控制器,使視頻流中相鄰的兩幀圖像做差,差分結(jié)果經(jīng)閾值判別后得到的二值圖像即運(yùn)動(dòng)目標(biāo),顯示在VGA顯示器上。在實(shí)現(xiàn)視頻采集及顯示的基礎(chǔ)上,通過(guò)算法比較本設(shè)計(jì)選擇幀間差分法作為實(shí)現(xiàn)本系統(tǒng)功能的算法,并進(jìn)行該模塊的設(shè)計(jì)。整個(gè)系統(tǒng)實(shí)現(xiàn)攝像頭實(shí)時(shí)采集視頻,經(jīng)圖像處理后將運(yùn)動(dòng)目標(biāo)檢測(cè)的結(jié)果顯示出來(lái)。經(jīng)測(cè)試,系統(tǒng)實(shí)現(xiàn)了在普通室內(nèi)環(huán)境中能夠快速識(shí)別運(yùn)動(dòng)目標(biāo),為下一步的識(shí)別、分析等后續(xù)工作增強(qiáng)有效性。
[Abstract]:With the rapid development of computer vision technology and the improvement of intelligence, robot competition has been widely developed. Robot involves automatic control, artificial intelligence and robot vision technology. In the competition, the robot mainly collects the image in real time through the camera to perceive the environment information, and analyzes the video information to make the decision. Therefore, it is the key for the robot to accurately grasp the surrounding information and identify the moving target for the robot to make the corresponding action quickly and stably. This paper is based on the robot martial arts contest in five provinces of North China. In order to make the robot get the position and state of each other quickly, a motion target detection system is designed. Based on the hardware implementation of the algorithm and the advantage of FPGA in data processing, video sequence moving target detection is realized. The design of the system consists of two parts: hardware integration and function realization. The main work lies in the driving connection of each hardware module and the hardware language realization of moving target detection algorithm. This design is based on FPGA technology to realize video image processing, and finally display the binary image of moving object in real time. Firstly, the system scheme is designed and the framework of the whole system is set up. The whole system is divided into two units according to its function: image acquisition and display and moving object detection. Image acquisition and display include image acquisition and display I2C configuration, image format conversion, preprocessing and storage of SDRAM, and VGA display module. The video acquisition and display unit implements the I2C configuration camera to transmit the real-time image information to FPGA, to realize the grayscale of the image in FPGA, to filter and preprocess the storage of SDRAM and to display the VGA. The moving target detection unit sets its controller according to the SDRAM storage structure to make the two adjacent frames of the video stream worse. The binary image obtained by the threshold discrimination of the difference result is the moving target, which is displayed on the VGA display. Based on the realization of video capture and display, the inter-frame difference method is selected as the algorithm to realize the function of the system, and the module is designed by comparing the algorithms. The whole system realizes the real-time video capture by the camera, and displays the result of moving target detection after image processing. After testing, the system can quickly identify moving targets in ordinary indoor environment, and enhance the effectiveness for the next step of identification, analysis and other follow-up work.
【學(xué)位授予單位】：內(nèi)蒙古大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41

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