Real-time implementation of panoramic mosaic camera based on FPGA

With regard to Automated Guided Vehicles (AGVs) and autonomous navigation of Micro Aerial Vehicles (MAVs) in complicated environments, it is vital to detect not only in the direction of ongoing but also the entire environment. It is very significant for obtaining a broader view of a scene than the current single view which has been used in a wide range of applications such as satellite imaging, medical imaging and so on. As the conventional omnidirectional camera based on PC is cumbersome and power consuming, then a novel light-weight structure comprising of four cameras to detect targets in all directions based on FPGA is presented in our design. We will discuss the implementation of image mosaic algorithm which is comprised of image registration and image fusion and some other image preprocessing algorithms for better effect such as median filter algorithm, color filter algorithm, image enhancement algorithm, etc., on the Xilinx Zynq-7020 FPGA device using Vivado Design Suite and Software Development Kit which is embedded on ZedBoard developed board. The system is able to handle more than 60 frames per second (fps) freely and still in a low power consuming.