全景摄像机的图像压缩系统的设计与实现
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摘要
全景摄像是把相机环360度拍摄的一组或多组照片拼接成一个全景图像,通过计算机技术实现全方位互动式观看的真实场景的摄像技术。全景摄像机应用于数字城市、视频监控、电视制导导弹、机器视觉、机器人自我定位和导航等多个领域。它为图像处理、计算机技术、机器人视觉、人工智能等学科提供了一个理想的实验平台。
全景摄像机系统由图像采集系统、图像整合系统、图像压缩系统和数据通信系统四个部分组成。其中图像压缩系统是整个系统的核心机构,在全景摄像机系统中起着重要作用。它的性能直接影响全景摄像机系统的实时性和图像质量。基于上述背景,结合当前全景摄像机的主要应用,基于上述背景,结合当前全景摄像机的主要应用,本文给出了基于JPEG压缩的全景摄像机系统的整体设计方案。
本文研究了一种基于DSP芯片TMS320DM642的全景摄像机JPEG压缩系统设计方案,开发了PCI通讯的下位机驱动程序。论文首先简要介绍了全景摄像机图像压缩系统的历史与现状。其次,对全景摄像机压缩系统的总体设计作以详细的分析。然后详细介绍了全景摄像机图像压缩系统视频接口模块,SDRAM数据存储模块,FLASH烧写模块,PCI通信模块及系统电源模块的设计方法。接下来,在新的软件编译环境CCS下,给出了软件系统的程序流程,包括主程序,TMS320DM642的视频口驱动程序及PCI下位机驱动程序等。最后研究了基于TMS320DM642平台的JPEG压缩方法,并进行了实验验证。在文章的结尾,对本文的成果进行了总结并对今后的改进方向作出了展望。
Panorama pick-up is a technology which uses a camera to pick up a group or a series of images, and then the images can be stitched into a panorama. The technology can realize to observe the real scene omni-directionally and interactively by means of the computer technology. Panoramic camera involves many fields such as digital city, video surveillance, television-guided missiles, machine vision, robotics, self-positioning and navigation and other domains. It provides an ideal experiment platform in image processing, computer technology, robot vision, artificial intelligence and other disciplines.
Panoramic camera system consists of image acquisition system, image integration system, image compression system and data communication system. In the whole system, Image compression system is the core. It plays an important role and its performance has a direct impact on the real-time issues and image quality in panoramic camera system. According to the above background and the practical needs of panoramic camera, this thesis has devised an overall design of panoramic camera system based on JPEG image compression.
This thesis researchs a design scheme of panoramic camera JPEG compression system based on TMS320DM642, a DSP chip, develops a video receiver driver program and PCI communications driver program. Firstly, a brief historical retrospect and present status of panoramic camera image compression system is given. Secondly, it makes a particular analysis about the overall design of panoramic camera image compression system. Then, the thesis designs the video interface module, SDRAM data storage module, FLASH programmer module, PCI communication module and system power module in panoramic camera image compression system in detail. Afterward, in the new software compiler environment CCS, it introduces the whole program flow, including the main program, video port driver program and PCI driver program. Finally, the thesis achieves JPEG compression algorithm on TMS320DM62 plantform and verifies the theory through the experiments. At the end of the thesis, the achievements of this thesis are summarized and some improvements in the future are proposed.
全景摄像机系统由图像采集系统、图像整合系统、图像压缩系统和数据通信系统四个部分组成。其中图像压缩系统是整个系统的核心机构,在全景摄像机系统中起着重要作用。它的性能直接影响全景摄像机系统的实时性和图像质量。基于上述背景,结合当前全景摄像机的主要应用,基于上述背景,结合当前全景摄像机的主要应用,本文给出了基于JPEG压缩的全景摄像机系统的整体设计方案。
本文研究了一种基于DSP芯片TMS320DM642的全景摄像机JPEG压缩系统设计方案,开发了PCI通讯的下位机驱动程序。论文首先简要介绍了全景摄像机图像压缩系统的历史与现状。其次,对全景摄像机压缩系统的总体设计作以详细的分析。然后详细介绍了全景摄像机图像压缩系统视频接口模块,SDRAM数据存储模块,FLASH烧写模块,PCI通信模块及系统电源模块的设计方法。接下来,在新的软件编译环境CCS下,给出了软件系统的程序流程,包括主程序,TMS320DM642的视频口驱动程序及PCI下位机驱动程序等。最后研究了基于TMS320DM642平台的JPEG压缩方法,并进行了实验验证。在文章的结尾,对本文的成果进行了总结并对今后的改进方向作出了展望。
Panorama pick-up is a technology which uses a camera to pick up a group or a series of images, and then the images can be stitched into a panorama. The technology can realize to observe the real scene omni-directionally and interactively by means of the computer technology. Panoramic camera involves many fields such as digital city, video surveillance, television-guided missiles, machine vision, robotics, self-positioning and navigation and other domains. It provides an ideal experiment platform in image processing, computer technology, robot vision, artificial intelligence and other disciplines.
Panoramic camera system consists of image acquisition system, image integration system, image compression system and data communication system. In the whole system, Image compression system is the core. It plays an important role and its performance has a direct impact on the real-time issues and image quality in panoramic camera system. According to the above background and the practical needs of panoramic camera, this thesis has devised an overall design of panoramic camera system based on JPEG image compression.
This thesis researchs a design scheme of panoramic camera JPEG compression system based on TMS320DM642, a DSP chip, develops a video receiver driver program and PCI communications driver program. Firstly, a brief historical retrospect and present status of panoramic camera image compression system is given. Secondly, it makes a particular analysis about the overall design of panoramic camera image compression system. Then, the thesis designs the video interface module, SDRAM data storage module, FLASH programmer module, PCI communication module and system power module in panoramic camera image compression system in detail. Afterward, in the new software compiler environment CCS, it introduces the whole program flow, including the main program, video port driver program and PCI driver program. Finally, the thesis achieves JPEG compression algorithm on TMS320DM62 plantform and verifies the theory through the experiments. At the end of the thesis, the achievements of this thesis are summarized and some improvements in the future are proposed.
引文
[1]Jeong Hun Jang, Suk Pil Ko. PanoVIX-Mini:Tiny and compact, multi-sensor based 360° panoramic camera system for mobile robotic applications [J], Robot and Human Interactive Communication,2007,6:663-66.
[2]Kar-Han Tan, Hong Hua, Ahuja, N. Multiview panoramic cameras using mirror pyramids [J],Pattern Analysis and Machine Intelligence,2004,7(26):(941-946).
[3]JNakao, T., Kashitani, A. Panoramic camera using a mirror rotation mechanism and a fast image mosaicing [J], Image Processing,2001,5(2):1045-1048.
[4]林家明,杨隆荣.CCD摄像机技术的发展趋势及应用前景[J],光学技术,1999,10(06)：306-307.
[5]鄂丰凯.自主式足球机器人控制系统研究[D],东北大学,2004.
[6]DSP selection guide [M], Texas Instrument,2001,5:123-126.
[7]王墨.DM642与CMOS图像传感器的接口[J],电子期刊,2007：7：135-138.
[8]王成飞.基于DM642的嵌入式网络摄像机设计[D],西南石油学院,2005.
[9]江思敏,刘畅TMS320 C6000 DSP应用开发教程[M],北京：机械工业出版社,2005,2：65-68.
[10]王跃宗,刘京会TMS32DM642 DSP应用系统设计与开发[M],北京：人民邮电出版社,2009,5：89-94.
[11]谌锋.基于TMS320DM642高速图像采集系统的软硬件设计[D],南京理工大学,2006.
[12]钱建良DSP+FPGA嵌入式多路视频监控系统硬件平台[J],电子产品世界,2007,4(11)：257-259.
[13]于水生.DSP芯片介绍及其选型[J],单片机与嵌入式系统应用,2006,11(04)：357-358.
[14]TMS320C6000 DSP Cache User's Guide [M], Texas Instruments,2003,5.
[15]田金文,李景奇.基于TMS320C6414的视频采集处理硬件系统设计[D],2005.
[16]赵建伟.基于DM642的最小数字图象采集系统的设计[D],内蒙古工业大学,2006.
[17]TMS320DM642 digital media processor [M], Texas Instruments,2002,5:210-216.
[18]赵燕丽.基于TMS320DM642的视频监控系统的硬件研究与设计[D],西南交通大 学,2006.
[19]黄泽利.基于TMS320DM642的视频处理系统设计及算法研究[D],电子科技大学,2007.
[20]卞红雨,纪祥春,乔钢等TMS320C6000系列DSP的CPU与外设[M],北京：清华大学出版社,2007,5：125-128.
[21]TMS320C6000 DSP periperal compoment interconnect (PCI) reference guide [M], Texas Instruments,2004,3(5):89-97.
[22]于凤芹TMS320C6000 DSP结构原理与硬件设计[M],北京：北京航空航天出版社,2008,9：45-49.
[23]MT48LC4M32B2-1 4banks 1M 32bit synchronous DRAM hynix semiconductor ine [M], Texas Instruments,2004,5:5-8.
[24]王仁龙.基于DM642下视频采集压缩卡的技术研究[D],哈尔滨工程大学,2006,10.
[25]崔楠.基于模糊PID运动控制的微型足球机器人小车设计[D],东北大学,2008.
[26]TMS320C6000 DSP peripheral component interconnect (PCI) reference guide [M], Texas Instrument,2003,9:(123-128).
[27]许彬,郑链,王克勇.基于DM642的PCI总线接口技术实现[J],微计算机信息,2006,(11)：(135-138)
[28]李进.实时操作系统DSP/BIOS在DSP开发中的应用[J],微电子技术,2003,(04)：(145-159)
[29]TMS320C6000 chip support library API user's guide [M], Texas Instruments,2001,5: 102-106.
[30]TMS320C6000 chip support library API reference guide [M], Texas Instrument,2004, 7:56-59.
[31]汪安民,张松灿,常春藤TMS320C6000 DSP实用技术与开发案例[M],北京：人民邮电出版社,2008,4：45-48.
[32]胡伟.基于TMS320DM642的视频处理系统硬件设计[D],北京化工大学,2006.
[33]Code Composer Studio v3.1 Getting Started Guide[J], Texas Instruments, Incorporated,2005:5-20.
[34]王军宁,何迪,马娟等TI DSP/BIOS用户手册与驱动开发[M],北京：清华大学出版社,2007,4：56-59.
[35]严新忠,刘喆.基于DSP/BIOS设备驱动模型的视频驱动程序开发[J],现代电子技术,2008,15：56-69.
[36]DSP/BIOS driver developer's guide [M], Texas Instrument.2002,56-69.
[37]The TMS320DM642 video port mini2 driver [M], Texas Instrument,2003,68-91.
[38]刘宇,贺树猛,常丹华.基于DSP的静态数码相机图像的压缩编码[J],电子技术2008,(11)：123-125.
[39]李忠锋.基于C6000 DSP的JPEG2000图像压缩技术研究[D],华中科技大学,2004.
[40]陈婷,沈振强.基于DSP的JPEG图像压缩的设计与实现[J],硅谷,2008,(01)：123-126.
[41]李洁冰.静态图像压缩技术在DSP上的实现[D],浙江大学,2005.
[42]耿倩,王耀南,余浩.基于DSP的JPEG静态图像压缩编码设计与实现[J],计算机工程与应用,2006,(23)：(101-106)
[43]陈斯斯,王耀南,王磊,崔波亮.基于DSP的JPEG图像压缩编码的实现[J],计算机测量与控制,2008,16(10)：(124-126)
[44]沈振强,陈婷,李世军,黄振宇,徐坤.DSP的JPEG图像压缩的设计与实现[J],中国高新技术企业,2008,(04)：(130-136)
[45]王卫岳.基于TMS320DM642的车牌识别系统[D],浙江大学,2007.
[46]G..K, Wallace. The JPEG still picture compression standard [J], IEEE transactionon consumer electronics,1992,1(38):(1345-1348).
[47]鲁常红.基于网格的机群远程通信控制平台的设计与实现[D],哈尔滨工程大学,2004.
[48]王国树.基于TMS320C6416的JPEG编码器的实现[D],国防科学技术大学,2006.
[49]邢霄飞.基于C6000系列DSP的JPEG图像压缩技术研究[D],四川大学,2006
[50]齐美彬,杨艳芳,蒋建国.JPEG编码算法的DSP优化实现[J],合肥工业大学学报(自然科学版),2002,(04)：(78-79)
[51]TMS320C6000 Optimizing Compiler User's Guide [J], Texas Instruments,2004,5: 124-134.
[2]Kar-Han Tan, Hong Hua, Ahuja, N. Multiview panoramic cameras using mirror pyramids [J],Pattern Analysis and Machine Intelligence,2004,7(26):(941-946).
[3]JNakao, T., Kashitani, A. Panoramic camera using a mirror rotation mechanism and a fast image mosaicing [J], Image Processing,2001,5(2):1045-1048.
[4]林家明,杨隆荣.CCD摄像机技术的发展趋势及应用前景[J],光学技术,1999,10(06)：306-307.
[5]鄂丰凯.自主式足球机器人控制系统研究[D],东北大学,2004.
[6]DSP selection guide [M], Texas Instrument,2001,5:123-126.
[7]王墨.DM642与CMOS图像传感器的接口[J],电子期刊,2007：7：135-138.
[8]王成飞.基于DM642的嵌入式网络摄像机设计[D],西南石油学院,2005.
[9]江思敏,刘畅TMS320 C6000 DSP应用开发教程[M],北京：机械工业出版社,2005,2：65-68.
[10]王跃宗,刘京会TMS32DM642 DSP应用系统设计与开发[M],北京：人民邮电出版社,2009,5：89-94.
[11]谌锋.基于TMS320DM642高速图像采集系统的软硬件设计[D],南京理工大学,2006.
[12]钱建良DSP+FPGA嵌入式多路视频监控系统硬件平台[J],电子产品世界,2007,4(11)：257-259.
[13]于水生.DSP芯片介绍及其选型[J],单片机与嵌入式系统应用,2006,11(04)：357-358.
[14]TMS320C6000 DSP Cache User's Guide [M], Texas Instruments,2003,5.
[15]田金文,李景奇.基于TMS320C6414的视频采集处理硬件系统设计[D],2005.
[16]赵建伟.基于DM642的最小数字图象采集系统的设计[D],内蒙古工业大学,2006.
[17]TMS320DM642 digital media processor [M], Texas Instruments,2002,5:210-216.
[18]赵燕丽.基于TMS320DM642的视频监控系统的硬件研究与设计[D],西南交通大 学,2006.
[19]黄泽利.基于TMS320DM642的视频处理系统设计及算法研究[D],电子科技大学,2007.
[20]卞红雨,纪祥春,乔钢等TMS320C6000系列DSP的CPU与外设[M],北京：清华大学出版社,2007,5：125-128.
[21]TMS320C6000 DSP periperal compoment interconnect (PCI) reference guide [M], Texas Instruments,2004,3(5):89-97.
[22]于凤芹TMS320C6000 DSP结构原理与硬件设计[M],北京：北京航空航天出版社,2008,9：45-49.
[23]MT48LC4M32B2-1 4banks 1M 32bit synchronous DRAM hynix semiconductor ine [M], Texas Instruments,2004,5:5-8.
[24]王仁龙.基于DM642下视频采集压缩卡的技术研究[D],哈尔滨工程大学,2006,10.
[25]崔楠.基于模糊PID运动控制的微型足球机器人小车设计[D],东北大学,2008.
[26]TMS320C6000 DSP peripheral component interconnect (PCI) reference guide [M], Texas Instrument,2003,9:(123-128).
[27]许彬,郑链,王克勇.基于DM642的PCI总线接口技术实现[J],微计算机信息,2006,(11)：(135-138)
[28]李进.实时操作系统DSP/BIOS在DSP开发中的应用[J],微电子技术,2003,(04)：(145-159)
[29]TMS320C6000 chip support library API user's guide [M], Texas Instruments,2001,5: 102-106.
[30]TMS320C6000 chip support library API reference guide [M], Texas Instrument,2004, 7:56-59.
[31]汪安民,张松灿,常春藤TMS320C6000 DSP实用技术与开发案例[M],北京：人民邮电出版社,2008,4：45-48.
[32]胡伟.基于TMS320DM642的视频处理系统硬件设计[D],北京化工大学,2006.
[33]Code Composer Studio v3.1 Getting Started Guide[J], Texas Instruments, Incorporated,2005:5-20.
[34]王军宁,何迪,马娟等TI DSP/BIOS用户手册与驱动开发[M],北京：清华大学出版社,2007,4：56-59.
[35]严新忠,刘喆.基于DSP/BIOS设备驱动模型的视频驱动程序开发[J],现代电子技术,2008,15：56-69.
[36]DSP/BIOS driver developer's guide [M], Texas Instrument.2002,56-69.
[37]The TMS320DM642 video port mini2 driver [M], Texas Instrument,2003,68-91.
[38]刘宇,贺树猛,常丹华.基于DSP的静态数码相机图像的压缩编码[J],电子技术2008,(11)：123-125.
[39]李忠锋.基于C6000 DSP的JPEG2000图像压缩技术研究[D],华中科技大学,2004.
[40]陈婷,沈振强.基于DSP的JPEG图像压缩的设计与实现[J],硅谷,2008,(01)：123-126.
[41]李洁冰.静态图像压缩技术在DSP上的实现[D],浙江大学,2005.
[42]耿倩,王耀南,余浩.基于DSP的JPEG静态图像压缩编码设计与实现[J],计算机工程与应用,2006,(23)：(101-106)
[43]陈斯斯,王耀南,王磊,崔波亮.基于DSP的JPEG图像压缩编码的实现[J],计算机测量与控制,2008,16(10)：(124-126)
[44]沈振强,陈婷,李世军,黄振宇,徐坤.DSP的JPEG图像压缩的设计与实现[J],中国高新技术企业,2008,(04)：(130-136)
[45]王卫岳.基于TMS320DM642的车牌识别系统[D],浙江大学,2007.
[46]G..K, Wallace. The JPEG still picture compression standard [J], IEEE transactionon consumer electronics,1992,1(38):(1345-1348).
[47]鲁常红.基于网格的机群远程通信控制平台的设计与实现[D],哈尔滨工程大学,2004.
[48]王国树.基于TMS320C6416的JPEG编码器的实现[D],国防科学技术大学,2006.
[49]邢霄飞.基于C6000系列DSP的JPEG图像压缩技术研究[D],四川大学,2006
[50]齐美彬,杨艳芳,蒋建国.JPEG编码算法的DSP优化实现[J],合肥工业大学学报(自然科学版),2002,(04)：(78-79)
[51]TMS320C6000 Optimizing Compiler User's Guide [J], Texas Instruments,2004,5: 124-134.