Abstract—It was the panoramic technology that extensively used in the scopes of Video Compression, Virtual Reality, Pathology of Medical Science, Teleconference System and so on。 Panoramic mosaic perspective, taking both full view images of a sight of view, is a critical figure of merit for a panoramic system。 This paper introduces the design of a panoramic mosaic camera, which is used in the special circumstances that required both with view and ambulant ability。 The camera achieves panoramic perspective by analyzing optical structure and using multiple image sensors。 A mosaic algorithm to rapidly locate the coordinate of overlapped area and to obtain real-time performance in embedded system is analyzed and optimized。 In addition, the Ethernet interface, to send the panoramic view to the remote terminal, is also discussed。 Finally we present the evaluation results, showing that this camera can satisfy the requirement of panoramic systems。85058

Index Terms—Panoramic Mosaic Camera, FPGA, Image Mosaic

I。INTRODUCTION

The advancement of image sensor, the resolution of image is become bigger。 With the development of image mosaic technology, the panoramic perspective is demand more often。 Albeit the similar consequence is obtainable through the broad angle lens, the distortion cannot  avert at the verge of the optical apparatus。 Hence, the panoramic mosaic technology emerged to vanquish the flaws [1], [2]。

In the present era, the contemporaneous prospective in panoramic mosaic is seeking the same segment in the coterminous image by some algorithm and defining the coordinate for image fusion。 Unfortunately, to obtain panoramic perspective filed of scene, it is required to develop a multi camera system with human operations which brings more expenditure。 Due to the complicated algorithm of image capture, this kind  of panoramic system is usually demands excess resources both in hardware and software, which shows the limitation of real-time performance and portable ability [3], [4]。

Therefore, this paper mainly discusses the design of a panoramic mosaic camera to automatically obtain panoramic perspective through two complementary metal-oxide-semiconductor (CMOS) sensor and an optimal    mosaic    algorithm    which    have     real-time

performance based on Field Programmable Gate Array (FPGA) embedded system。

First of all, in the Imaging part, the  article demonstrated the optical structure of the  entire system and achieved the drive of CMOS image sensor THDB- D5Ms。 Secondly, the mosaic algorithm and the methodology are detailed in the image mosaic part。 The article optimized the correlation algorithm and simulated the method in the MATLAB。 It also elaborated the fulfillment of the method in FPGA embedded system, with contained four kernel modules: Fast Fourier Transformation (FFT) module, raw format image convert to bitmap module, bitmap convert to YUV module and SDRAM module。 After that, the YVU convert to Bitmap module and Video Graphic Array display module were presented in Image Display part。 After that, both the Ethernet interface which included manually program net frame structure and design of remote client application were presented。 Furthermore, the whole system was fulfilled in the DE2-70 embedded framework and evaluation test were carried out。 From the results of the experimental control, this camera satisfies the requirements of the panoramic situations。

II。SYSTEM DESIGN

The Panoramic mosaic camera is composed of three components: the imaging CMOS sensor part, the image mosaic part and the Ethernet interface part。 The CMOS sensor includes two THDB-D5Ms, which are five mega pixel digital CMOS sensor。 Each sensor contains a power voltage circuit, a low noise amplifier and a clock driver circuit [5], [6]。 The image mosaic part composed  with raw to bitmap module which is charge of conversion for the  raw image obtained from CMOS sensor, bitmap     to