移動物偵測之影像硬體架構｜國立臺灣科技大學博碩士論文系統

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研究生：	邱顯強 Shian-Chiang Chiou
論文名稱：	移動物偵測之影像硬體架構 Image Hardware Structure of Motion Detection System
指導教授：	許孟超 Mon-Chau Shie
口試委員:	阮聖彰 Shanq-Jang Ruan 鄭瑞光 Ray-Guang Cheng
學位類別：	碩士 Master
系所名稱：	電資學院 - 電子工程系 Department of Electronic and Computer Engineering
論文出版年：	2009
畢業學年度：	97
語文別：	中文
論文頁數：	73
中文關鍵詞：	FPGA 、影像處理、電腦視覺技術、智慧型交通系統、移動物偵測、智慧型視訊監控系統、CMOS Camera 、SOPC
外文關鍵詞：	Image Processing, Motion Detection, Computer Visualization Technology, Intelligent Traffic Control System, Intelligent Video Surveillance and Monitoring, FPGA, SOPC, CMOS Camera
相關次數：	點閱：275 下載：6
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移動物偵測是智慧型視訊監控系統、智慧型交通系統等基於電腦視覺技術內的一個極為重要步驟，目的都在於能夠更準確、快速的偵測到移動物件，其後續的工作如：移動物的追蹤、辨認等程序都高度依賴移動物偵測的準確與否，所以移動物偵測的正確性甚至足以決定整個系統的可靠度與精確性，是評估一個監控系統好壞的決定性因素。
實現移動物偵測，首先用背景相減法取得前景影像，利用5×5的遮罩，經過形態學的侵蝕運算與膨脹運算，分別來消除雜訊、連接紋理以及加強前景影像，然後利用連通元件將移動物框選，完成移動物偵測。而移動物偵測系統上牽涉到許多影像處理的技術，包含二值化、膨脹、侵蝕和連通等大量資料運算，耗費相當多的處理時間。
本論文主要為設計影像處理等各個硬體模組，實現於DE2 FPGA實驗板上。以Altera NIOS II嵌入式軟核心處理器及SOPC平台為開發環境，結合外接式的CMOS Camera當作影像來源，系統使用像素設定為320×240，透過VGA輸出將移動物偵測的畫面顯示在Monitor上，降低整體系統成本。最主要的設計重點，為了將影像作即時處理，改良形態學的硬體演算法，而本論文所提出的形態學硬體演算，處理一張320×240的影像只需花費約76,800個Clocks，比形態學硬體演算法-1[1]快約34倍，比形態學硬體演算法-2[2]執行快約6倍，有效的大幅提升處理速度。

Motion detection is a very important part of Intelligent Video Surveillance and Monitoring and Intelligent Traffic Control Systems based on the computer visualization technology. Its purpose is to detect moving objects more quickly and accurately and follow up tasks, such as: tracking and identifying moving objects which is reliant on the high accuracy of the motion detection. Therefore, the precision of the motion detection results can decide the system’s reliability and accuracy, which makes it a deciding factor for evaluating the surveillance systems.
To detect a moving object, I use background subtraction to retrieve the foreground image, by using a 5*5 mask, through morphology operations: erosion operation which reduces noise and dilation operation to reduce image discontinuity and enhance foreground image. Finally, by using the connected component and the moving object could be framed and tracked thus completing the motion detection. Overall, many image processing techniques were used in the system including: image binarization, dilation, erosion, and connecting component. These techniques require great processing data and extended amount of processing times.
This thesis is mainly dedicated to designing image processing hardware modules on the experimental board of DE2 FPGA. Using Altera NIOS II embedded processor and SOPC platform as the developing environment along with an external CMOS Camera as the video source, the motion detection video frames are displayed on a monitor. This lowers the overall system cost and processes the images in real-time.
The morphology hardware architecture in our paper spends almost 76,800 clocks to process a 320×240 picture. It’s faster than Harware Algorithm-1 by 34 times and faster than Harware Algorithm-2 by 6 times. Because of above description, we conclude that our architecture effectively improves speed.

目錄
論文摘要.........................................................................................................................i
Abstract.......................................................................................................................iii
致謝................................................................................................................................v
目錄...............................................................................................................................vi
圖索引...........................................................................................................................ix
表索引..........................................................................................................................xii
第一章 序論..................................................................................................................1
1 研究動機與目的............................................................................................1
2 研究背景與方法............................................................................................1
3 全文架構........................................................................................................3
第二章 相關知識..........................................................................................................4
1 移動物偵測....................................................................................................4
1.1 背景相減法........................................................................................4
1.2 時間差異法........................................................................................4
1.3 光流偵測法........................................................................................5
2 影像處理........................................................................................................5
2.1 色彩空間............................................................................................6
2.2 二值化................................................................................................6
2.3 固定門檻值........................................................................................6
2.4 形態學................................................................................................7
2.4.1 膨脹........................................................................................7
2.4.2 侵蝕........................................................................................8
2.5 連通元件............................................................................................9
3 I2C.................................................................................................................10
4 Digital Camera............................................................................................12
4.1 CCD.....................................................................................................12
4.2 CMOS...................................................................................................12
5 VGA.................................................................................................................13
6 SOPC技術與Avalon Bus.............................................................................14
6.1 NIOS II.............................................................................................15
6.2 Avalon Bus…....................................................................................16
第三章 移動物偵測之影像硬體架構........................................................................18
1 系統特性......................................................................................................18
2 系統架構及流程..........................................................................................20
3 影像輸入......................................................................................................27
3.1 CMOS I2C Controller 模組..........................................................30
3.1 CMOS Controller 模組..................................................................31
4 移動物擷取..................................................................................................33
4.1 Image Writer 模組........................................................................35
4.2 Image Reader 模組........................................................................36
4.3 Image Switch and Compare模組.................................................37
5 移動物後置處理…......................................................................................38
5.1 硬體演算法-1…..............................................................................38
5.2 硬體演算法-2..................................................................................41
5.3 提出的硬體演算法..........................................................................44
5.4 Morphology 模組............................................................................47
6 移動物偵測..................................................................................................50
6.1 Connected Component 模組..........................................................50
7 影像輸出......................................................................................................53
7.1 VGA Controller 模組....................................................................53
第四章 系統整合與實驗結果....................................................................................56
1 系統軟硬體整合..........................................................................................56
1.1 硬體整合..........................................................................................57
1.2 軟體整合..........................................................................................60
2 實驗結果......................................................................................................62
2.1 時序比較..........................................................................................62
2.2 移動物偵測......................................................................................64
第五章 結論與未來展望............................................................................................71
1 結論..............................................................................................................71
2 未來展望......................................................................................................72
參考文獻......................................................................................................................73

                                

參考文獻
[1] R. C. Gonzalez and R. E. Woods,“Digital Image Processing”, 2nd Edition, Prentice Hall, 2002 Page(s):519-527.
[2] 吳國修,“基於離散小波轉換與形態學硬體實現多個車牌偵測”, 國立台灣科技大學電子工程系碩士論文, 2008.
[3] N. Amamoto and A. Fujii,“Detecting obstructions and tracking moving objects by image processing technique”, Electronics and Communicationsin Japan, 1999.
[4] 鐘國亮,“影像處理與電腦視覺”, 3th Edition, 東華書局, 2006.
[5] Wikipedia, http://en.wikipedia.org/wiki/Main_Page/RGB_color_space
[6] 陳同孝、張真誠、黃國峰, ”數位影像處理技術”, 旗標出版社, 2003.
[7] Wikipedia, http://en.wikipedia.org/wiki/Main_Page/I2C
[8] Kodak,“Shutter Operations for CCD and CMOS Image Sensors,” Kodak Image Sensor solutions, Revision 2.0, 2003.
[9] Wikipedia, http://en.wikipedia.org/wiki/Main_Page/Vga
[10] “NIOS II Processor Handbook”, Version 7.1, Altera, 2007.
[11] “DE2_UserManual”, Version 7.1, Altera, 2007.
[12] “MT9M011 1/3-Inch Megapixel CMOS Active-Pixel Digital Image Sensor Data Sheet”, Micron Technology Inc. 2004.
[13] 鄭子凡,“以多組CMOS感測器實現高速攝影系統之SOPC硬體架構”, 國立台灣科技大學電子工程系碩士論文, 2007.
[14] Alberto Broggi. System Sciences,“Speeding-up Mathematical Morphology Computations with Special - PurposeArray Processors”, 1994. vol. I: Architecture, Proceedings of the Twenty-Seventh Hawaii Internation Conference on vol. 1, 4-7Jan. 1994.

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