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A Prototype Optical Tracking System Investigation and Development - page 49 / 170

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Chapter 4

Black Spot Firmware

This chapter describes the design of the firmware for the Black Spot camera modules.

s

discussed in Chapter 2, the Black Spot modules provide 2D tracking of LED markers for the overall system. The goals of the firmware design are summarised in Section 4.1 then the algorithm design is described in Section 4.2. This section includes a discussion of a number of algorithms that could be implemented in the future to improve the firmware

(Section 4.2.5).

Following this the development environment is described in Section 4.3

and finally the implementation details are briefly discussed in Section 4.4.

4.1

Design goals

There were a number of design goals for the Black Spot firmware, namely:

  • to track multiple markers concurrently in 2D1,

  • to track markers at the full frame rate available to the firmware (60 frames/s),

  • to maintain tracking of markers while undergoing motion that would be encountered

during typical use of the FastScan system (as described in Chapter 3),

  • to work in a memory limited environment typical of an embedded system,

  • to allow the firmware to be developed independently from the hardware,

  • to write the firmware so that it can be tested easily,

  • to make the firmware modular so that new algorithms can be added in the future.

1The beacon used for testing contained 27 markers so this number is used throughout the thesis.

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