Research And Implementation Of A High Speed Vision Tracking System Of Scanning Probe Based On FPGA

In the field of industrial manufacturing,the requirements of measurement efficiency and precision for workpieces become higher and higher.A kind of three-dimension robotic scanners which is an integration of a three-dimension laser scanning probe with a robot are employed gradually.Tracking the probe visually is an efficient way to improve the measurement precision.Therefore,a high-speed multi-camera vision tracking system for a 3D robotic scanner is investigated in this thesis.In order to process the large volume image data in real-time with the multi-camera vision tracking system,FPGA with parallel processing characteristics is selected to be the core processor to modularize the system.Existing algorithms are improved and optimized for the FPGA platform,and each module is run serially in a pipelined manner.As a result,the tracking efficiency is improved effectively.The main research results of this thesis are as follows:(1)A high-speed FPGA-based vision tracking system for the scanning probe is designed.High-speed tracking of the scanning probe is achieved through the cooperation of multiple FPGA development boards;(2)An FPGA-based marker tracking algorithm is proposed to optimize the tracking area in the entire tracking system based on existing target tracking algorithms.The data size of image processing is reduced,and the probe pose is tracked stably in real time.Finally,the tracking speed of the entire system is improved significantly;(3)The principle and method of 3D reconstruction in stereo vision are studied,and the algorithm is optimized for the FPGA platform to improve the efficiency;(4)A software for the host computer is developed to control the sampling of the 3D scanning system and the tracking system and display the scanned data in real time.It is verified that the processing speed of the high-speed vision system based on FPGA in this paper reaches 50 fps,which is 2.5 times that of the original binocular vision tracking system,through system experiments.Real-time requirement of the system is satisfied.