The Application of Virtex-II Pro FPGA in High-Speed Image Processing Technology of Robot Vision Sensor

摘要

The Virtex-II Pro FPGA is applied to the vision sensor tracking system of IRB2400 robot. The hardware platform, which undertakes the task of improving SNR and compressing data, is constructed by using the high-speed image processing of FPGA. The lower level image-processing algorithm is realized by combining the FPGA frame and the embedded CPU. The velocity of image processing is accelerated due to the introduction of FPGA and CPU. The usage of the embedded CPU makes it easily to realize the logic design of interface. Some key techniques are presented in the text, such as read-write process, template matching, convolution, and some modules are simulated too. In the end, the compare among the modules using this design, using the PC computer and using the DSP, is carried out. Because the high-speed image processing system core is a chip of FPGA, the function of which can renew conveniently, therefore, to a degree, the measure system is intelligent.