FPGA
The FPGA interfaces with the Video Decoder PCB via the Santa Cruz daughter board connector. Video input is thresholded into the RoboCup colours (Orange, Yellow, Blue, Black, Magenta, Cyan). These binary images are then processed separately to determine the number and location of objects. Finally, the system will interface to an external system (for example a robot control system) that will make use of the processed information.
Currently we have thresholding and labeling working in hardware. Some external RAM will need to be used to store data because the FPGA doesn't have enough internal RAM for too much pixel storage.