The Crazy Camera Killing Compadres

John Berglund

Randy Cuaycong

Wes Day

Andrew Fikes

Kamran Shah

Spring 1999 CPSC 483 Proposal

Objective

• Develop an autonomous camera that can identify and track an object in motion

Applications

• Sports Camera Operator

• Surveillance• Population Control

Goals

• Develop a motion tracking algorithm

• Implement an FPGA to camerainterface

• Develop a camera platform

• Develop a memory system

• Implement the algorithm in hardware

Motion Tracking Algorithm

• Initial development on PC– C++ with Microsoft Vision SDK

• Hardware implementation– Xilinx 4010E PC84 FPGA

Environment

• Object smaller than its background

• Uncluttered background

• Rigid object

• High contrast

• Reasonable pace

• Object at a fixed distance

Contrast Algorithm

• Use the rapidly changing grayscale values to identify the object

• Once the object is identified, locate the center of the object and adjust camera

• Only 1 frame required

Subtraction w/ Pattern Matching0 00000 0 0

0 0000255 255 255

0 0000255 255 255

0 0000255 255 255

0 00000 0 0

0 00000 0 0

0 00000 0 0

0 00000 0 0

0 00000 0 0

0 00000 0 0

0 00000 0 0

0 002552550 0 255

0 00255

255

0 0 255

0 002550 0

0 00000 0 0

0 00000 0 0

255

255

0 00000 0 0

0 0000-255 -255 -255

0 0000-255 -255 -255

0 00255255-255 -255 0

0 00255

255

0 0 255

0 002550 0

0 00000 0 0

0 00000 0 0

255

255

Concentric Squares Approach

• Superimposed grid allows for reduction of problem

• Concentric squares act as motion “alarms” to quickly identify objects in motion

1 2 3 4

5 7

16

12

8

9 1110

14 15

6

13

1-Dimensional Algorithm

Benefits of 1-D Solution• Reduced memory requirement

– For a 160x120 pixel image with 8-bits per pixel grayscale:

• Reduced algorithm complexity

2-D 1-D

160x120 x 8 153600 bits

160x16+ 120x15 3720 bits

Xilinx XC4010E

SRAM

Horizontal and Vertical Servos

Servo Control

Motion Detection Hardware

Camera Interface

Camera

System Diagram

Motion Detection Hardware

• Receive and analyze pictures from the Camera Interface

• Send commands to the Camera Interface

• Send commands to the Servo Control subsystem

Camera Interface

• Receive pictures and store them in SRAM

• Send commands to the QuickCam

• Emulate a parallel port

• Interface already defined by previous project team (NetCam)

Servo Control

• Receive commands from Motion Detection Hardware

• Send commands to servos

• Use Pulse Width Modulation (PWM)

Camera Platform

• Camera mount must pivot in two directions

• Servos must be mounted and adjusted

• Servo to FPGA interface must be refined from previous project

Memory System

• System required to store and retrieve at least three images

• Will be implemented using SRAM

• Must interface SRAM with FPGA

System Cost

Equipment Quantity Cost per Unit (US $) Total Cost (US $)JDR PDS500 Solderless BreadBoard with Power Supply

1 89.99 89.99

Connectix QuickCam 1 45.00 45.00Xilinx XC40010E PC84 FPGA 1 81.10 81.10Xilinx demo board 1 Donated 0.00Xilinx DLC4 Cable 1 295.00 295.00CW Socket to PCB Connector 2 Consumable 0.00Toshiba TC55100BFL-70-NDSRAM

1 9.00 9.00

Futaba J TS-55 Servos 2 16.99 33.98Construction Material N/A N/A N/APC with Windows 1 On loan 0.00Visual Studio 6.0 with Vision SDK 1 On loan 0.00BS2-IC Basic Stamp Module 1 49.00 49.00Consumables (Wires, …) N/A 0.00 0.00Test equipment 10.00Total 613.07

Team Responsibilities

Project Area Team MemberAlgorithm Development Andrew, John, Kamran, Randy, WesQuickCam/FPGA Interface Andrew, KamranMechanical/Servo System John, RandyMemory System WesAlgorithm Implementation in FPGA Andrew, John, Kamran, Randy, WesSystem Integration Andrew, John, Kamran, Randy, Wes

System Test

• Plain background

• Horizontal test– Ball rolling across the field of view

• Vertical test– Lowering a ball on string

• Accuracy test by stopping motion abruptly