并行流水线实现的多红外标志点实时标记与识别新方法

New real-time labeling and recognition method for multiple infrared markers based on parallel pipeline

提出了一种FPGA实现的实时标记与识别多个红外标志点的方法。针对红外标志点所形成的连通域特点,提出对应的扫描窗口以及减少等价表处理量的办法。通过使用并行流水线完成图像平滑滤波?阈值处理?初次标记?二次扫描以及重心解算等一系列操作,实现了在不同照度环境下对多个红外标志点目标的实时标记和二维位置识别。实验结果表明原始图像数据与处理结果之间只有4个像素时钟的延迟,识别精度精确到亚像素,能够满足医学手术导航等对实时性要求高的应用场合要求。

A new multiple infrared markers labeling and recognition method implemented by FPGA is proposed. A scanning window and a method to reduce the capacity of equivalent tables handling are proposed according to the characteristics of the connected component shaped by a marker. A series of operation including image smoothing fil- ter, threshold processing, preliminary labeling, second scan and centroid calculation are implemented based on par- allel pipelines. Real-time labeling and 2D location recognition for multiple infrared markers are realized in different illuminations. The experimental results show that the latency between the original image data and the processing results is only four pixel clocks, which corresponds to the accuracy of sub-pixel. The proposed system can satisfy the requirements of applications such as surgical navigations that require high time efficiency.