1. SVAR'06, 24/05/06FastTrack1 FastTrack: A High Frame Rate Stereovision Tracking System Michael Belshaw Michael Greenspan Dept. of Electrical & Computer Engineering Queen’s University Siraj W. James MacLean Dept. of Electrical & Computer Engineering University of Toronto Peter Chun Valeri Kirischian Vadim Geurkov Lev Kirischian Dept. of Electrical & Computer Engineering Ryerson University

2. SVAR'06, 24/05/06FastTrack2 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

3. SVAR'06, 24/05/06FastTrack3 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

4. SVAR'06, 24/05/06FastTrack4 Propelling Collaboration FPGA Platform 200 fps Stereo Camera Fast Stereo-Vision Algorithms Object Tracking Algorithms 2 nd generation SVAR project

5. SVAR'06, 24/05/06FastTrack5 200 frame/sec. Stereo-Video Camera Object in the are of Stereo-vision Interface Module Video-Output Module FPGA-based Video-processing Platform FPGA: Xilinx Virtex-II Pro PCI-bus Interface Host Computer System Overview

6. SVAR'06, 24/05/06FastTrack6 PCI / FPGA Development Board PCI Bus (64b / 66 MHz) SRAM (2MB) 32b / 66 MHz PMC Site 64b / 66 MHz RS-232 (Debug) 16 / 200 MHz Virtex II Pro DDR-SDRAM (32 MB) Serial Port Memory / Control FPGA PCI I/O DDR-SDRAM (32 MB) 16 / 200 MHz SRAM (2MB) 32 / 166 MHz Expansion I/O Configuration Configuratio n Flash Program Flash CPLDSystem ACE Compact Flash Card Configuration network High Speed LVDS (360MHz) CAMERA interface High Speed LVDS (250MHz) FPGA to FPGA General I/O FPGA Platform

7. SVAR'06, 24/05/06FastTrack7 Stereovision

8. SVAR'06, 24/05/06FastTrack8 Object Tracking Two methods: ICP and BHT - focus on ICP - more standard - less complex to implement on FPGA

9. SVAR'06, 24/05/06FastTrack9 Project Timeline 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 Dec. 07 - - project closeout Jun. 07 - - high frame rate stereovision 2 Aug. 07 - - high frame rate tracking 2