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Cooperative-target-based real-time global search method for high-speed vision measurement

A technology of visual measurement and cooperative target, applied in the field of real-time search of marker points, which can solve the problems of camera resolution sensitivity, long time consumption, limited system update rate, etc.

Active Publication Date: 2014-03-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problems that the global search process takes too long, is sensitive to camera resolution, and the system update rate is limited by the moving speed of the target in high-speed visual measurement, and provides a high-speed visual measurement implemented in FPGA. A real-time global search method based on cooperative objectives

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  • Cooperative-target-based real-time global search method for high-speed vision measurement
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  • Cooperative-target-based real-time global search method for high-speed vision measurement

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specific Embodiment approach 1

[0062] Specific implementation mode one: combine figure 1 with figure 2 Describe this embodiment. The FPGA in the real-time global search method based on cooperative targets for high-speed visual measurement described in this embodiment is embedded with a camera data transmission and control module, a data preprocessing module, a data cache control module, and a marker point A real-time detection module and a computing module, the computing module is connected with an external DSP chip through a DSP EMIF data communication interface;

[0063] Camera data transmission and control module: used to complete the camera communication interface control, input the pixel data of the high-speed camera to the data preprocessing module in parallel, and output the synchronous clock signal of the camera to the data preprocessing module at the same time;

[0064] Data pre-processing module: used to ensure that the subsequent clock frequency is below 50MHz, the clock frequency comes from th...

specific Embodiment approach 2

[0096] Specific implementation mode two: combination image 3 with Figure 4 Describe this embodiment. This embodiment is a further limitation of the real-time global search method based on cooperative targets for high-speed visual measurement described in Embodiment 1. In this embodiment, the real-time detection module of the mark points The method of detection is:

[0097] In each clock cycle, the parallel 16-pixel data entering the real-time detection module of the mark point is buffered by two-level D flip-flops, and then judged with a high threshold Th_H:

[0098] Three adjacent pixels are defined as a pixel segment, and the first pixels of the 16 pixel segments are divided into the 1st to 16th pixels respectively, and the three pixels of the 15th pixel segment are the 15th pixel, the 16th pixel and the next clock cycle The first pixel, the three pixels of the 16th pixel segment are the 16th pixel and the first two pixels of the next clock cycle, the pixel data of the n...

specific Embodiment approach 3

[0106] Specific embodiment three: This embodiment is a further limitation of the real-time global search method based on cooperative targets for high-speed visual measurement described in embodiment two. In this embodiment, the state machine and address generation module described The state machine includes the following states:

[0107] DLE state: variable initialization, and judge whether fval reaches the rising edge, if the judgment result is yes, jump to FVAL_H1 state; otherwise, jump back to IDLE state;

[0108] FVAL_H1 state: Judging whether a marker point is found, if the judgment result is yes, jump to the FVAL_H2 state; otherwise, judge whether fval reaches the falling edge, if the judgment result is yes, jump to the FVAL_L state; otherwise, jump to the FVAL_H1 state;

[0109] FVAL_H2 state: judge whether fval reaches the falling edge, if the judgment result is yes, jump to FVAL_L state; otherwise, jump back to FVAL_H2 state;

[0110] FVAL_L state: judge whether the ...

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Abstract

The invention discloses a cooperative-target-based real-time global search method for high-speed vision measurement and relates to a marking-point search method. By using the real-time global search method, the problems that in the high-speed vision measurement, the global search process is overlong in time consumption and is sensitive to the resolution of a camera, and the updating rate of a system is limited by the moving speed of the target are solved. In a data preprocessing module, parallelized data are outputted to a data buffering control module and a marking-point real-time detection module simultaneously. After the marking-point real-time detection module detects a marking-point pixel, subsequent related data of marking points are sent to an operating module which is in a multi-production-line structure; and after the transmission of a frame image is ended, coordinates of all the marking points can be outputted, and mass-center data of the marking points are obtained by calculation and is stored into a corresponding cache. The real-time global search method disclosed by the invention has the advantages that the global search process is short in time consumption, good in robustness and insensitive to the resolution to the camera and the moving speed of the target. The real-time global search method is applicable to the image processing field and the vision-measuring field.

Description

technical field [0001] The invention relates to a real-time search method for marking points, belonging to the fields of image processing and visual measurement. Background technique [0002] In visual measurement, the realization of cooperative targets usually adopts the method of infrared active or passive light sources combined with optical filters to separate the measured target from the background well, thereby simplifying the back-end processing algorithm and improving the system accuracy while ensuring accuracy. real-time. In the process of image processing, it is necessary to search for the marked points of the cooperative target to determine its centroid, and then to calculate the spatial coordinates. The search methods are mainly divided into global search and neighborhood search. Global search is to compare all pixels with the threshold point by point in the image. After searching for a point greater than the threshold, complete the pixel traversal of the cooper...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 叶东于潇宇郭玉波陈刚赵振庆
Owner HARBIN INST OF TECH
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