以異質雙核心系統為平台進行影像式即時目標辨識與追蹤

本論文旨在探討利用ARM+DSP及視訊裝置進行即時目標物的辨識與追蹤。近年來DSP在影像處理上的運用越來越廣泛。本論文在兩位前人研究的基礎上，將它們的研究成果整合並擴張。本研究透過ARM與週邊設備進行資料交換，並獲取視訊影像，再將這些資料傳遞至DSP進行影像處理所需的計算，並將計算成果回傳給ARM。一般嵌入式系統中的影像處理，多採用OpenCV，但 DSP和OpenCV的相容性一直有問題，所以本研究自行撰寫影像處理程式，並與OpenCV的結果進行比較，以確認其正確性。本研究亦改善前人只能處理單張影像的缺點，將它改寫成能連續處理視訊的輸入，並驗證其處理的正確性。本研究成果日後可用於無人飛機的影像導引，進行即時目標辨視與追蹤的相關應用。

關鍵字

即時辨識追蹤；影像處理；色彩空間轉換； Linux ； ARM+DSP ； DSPLink ； OpenCV

並列摘要

This thesis mainly investigate the real-time target recognition and tracking using a heterogeneous dual-core embedded platform DSP. Recently DSP has wider and wider applications in the field of computer vision and image processing. Based on previous researches from our research group, this thesis integrate and expand their work. In this research, the ARM is in charge of exchanging data with other devices, including video device. These data is send to the DSP for further image processing. The processed results are transmitted back to the ARM for further applications. In most embedded devices, OpenCV is employed for image processing. However, the OpenCV is not compatible with the DSP in our case. Therefore, all the codes for image processing are developed by ourselves. The processed results are compared with those from OpenCV to ensure the correctness. Moreover, in the previous result the DSP only processes a single image. This thesis has reached the goal that DSP can process continuous image input. Experiments are also designed to check the correctness of the processed results. This research is potentially applicable to the real-time target recognition and tracking on board a UAV.