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FastTrack: A High Frame Rate Stereovision Tracking System

FastTrack: A High Frame Rate Stereovision Tracking System. Peter Chun Valeri Kirischian Vadim Geurkov Lev Kirischian Dept. of Electrical & Computer Engineering Ryerson University. Michael Belshaw Michael Greenspan Dept. of Electrical & Computer Engineering Queen’s University.

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FastTrack: A High Frame Rate Stereovision Tracking System

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  1. FastTrack: A High Frame Rate Stereovision Tracking System Peter Chun Valeri Kirischian Vadim Geurkov Lev Kirischian Dept. of Electrical & Computer Engineering Ryerson University Michael Belshaw Michael Greenspan Dept. of Electrical & Computer Engineering Queen’s University Siraj W. James MacLean Dept. of Electrical & Computer Engineering University of Toronto FastTrack

  2. Objective Develop a stereovision system capable of extracting range data at > 200 fps and tracking objects - state of the art for stereovision extraction ~ 30 fps Motivation: Autonomous Satellite Grasping Benefits: Increasing the speed of tracking will: 1. Allow us to track faster moving objects 2. Allow us to track slower moving objects more reliably 3. High frame rate stereovision and tracking will enable other applications FastTrack

  3. Fast Track: Satellite Grasping • Automatic image recognition and docking system • Ultra-fast (200 fps) stereo video acquisition • Real-Time Video-Stream processing on the FPGA based platform FastTrack

  4. Propelling Collaboration 2nd generation SVAR project Object Tracking Algorithms 200 fps Stereo Camera FPGA Platform Fast Stereo-Vision Algorithms FastTrack

  5. System Overview 200 frame/sec. Stereo-Video Camera Interface Module Video-Output Module FPGA-based Video-processing Platform FPGA: Xilinx Virtex-II Pro PCI-bus Interface Object in the are of Stereo-vision Host Computer FastTrack

  6. PCI / FPGA Development Board DDR-SDRAM (32 MB) Virtex II Pro Expansion I/O High Speed LVDS (360MHz) CAMERA interface DDR-SDRAM (32 MB) 16 / 200 MHz 16 / 200 MHz General I/O SRAM (2MB) 32 / 166 MHz SRAM (2MB) High Speed LVDS (250MHz) FPGA to FPGA 32 / 166 MHz RS-232 (Debug) Serial Port 64b / 66 MHz Compact Flash Card PMC Site Configuration network Configuration Memory / Control FPGA System ACE Configuration Flash Program Flash CPLD PCI 32b /66 MHz I/O PCI Bus (64b / 66 MHz) FPGA Platform FastTrack

  7. Stereovision FastTrack

  8. Object Tracking Two methods: ICP and BHT - focus on ICP - more standard - less complex to implement on FPGA FastTrack

  9. Jan. 06 - - project start Apr. 06 - - high frame rate camera July 06 - - stereo calibration Oct. 06 - - high frame rate stereovision 1 Mar. 07 - - high frame rate tracking 1 Jun. 07 - - high frame rate stereovision 2 Aug. 07 - - high frame rate tracking 2 Dec. 07 - - project closeout Project Timeline FastTrack

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