KR101820455B1 - Image tracking apparatus and tracking method for guided weapon - Google Patents

Abstract

The present invention relates to an image searching device for a guided weapon, and an image searching method therefor. More specifically, the present invention relates to the image searching method for a guided weapon, and the image searching device for a guided weapon to generate target track data to track a target from image data. According to an embodiment of the present invention, the image searching device for a guided weapon comprises: an image detection unit outputting the image data; an image input unit dividing the image data and sequentially receiving the divided image data; a target track unit receiving the divided image data to generate the target track data; and a communications channel unit transmitting and receiving the target track data and the image data between the image input unit and the target track unit.

Description

TECHNICAL FIELD [0001] The present invention relates to an image search apparatus and a method for searching for a guided weapon,

[0001] The present invention relates to an image search apparatus and method for guiding weapons, and more particularly, to a guided image search apparatus and method for generating target tracking data for tracking a target from image data.

A guided weapon is a weapon equipped with a device that is guided by a specific method until the target or target is reached. Induction armed weapons are able to strike a precise target by controlling the direction, speed, etc. of the flight by the guidance device.

The guiding method of guided weapons is classified into command guidance, homing guidance, and navigational guidance. The command induction is a method of calculating the induction signal from the outside of the induction arsenal and delivering it to the induction arming. This is the wired command, the radio command, and the radar command. Homing induction can be divided into active, semi-active, and manual depending on how the searcher is operating, guided by the missile's built-in seeker to search, capture and track the target. Navigation induction is a method that is guided to target by using information such as velocity and direction, satellite, and topographic photographs in induction armed itself, and there are methods such as inertia, ground, and induction.

In particular, there is an image homing induction method in the homing inducing method. Image homing is an induction method in which an image of a target is acquired and the target is traced using the characteristic shape or spectral characteristic of the target. The image to be used may be a general image, but in the case of a nighttime, an infrared image may be used.

As such, an image search device for searching, capturing and tracking a target using an image is used for precision-guided weapons that recognize, identify, capture, and track a target image. Recently, A demand for performance of an image search apparatus for processing data is increasing. In particular, in order to minimize the image delay time due to the processing of a large amount of image data input from the image detecting unit and to stably transmit and receive the detected image data, it is urgently necessary to secure a system margin for image processing.

KR 10-1052038 B1

The present invention provides an image search apparatus and method for an inductive weapon capable of transmitting data in real time at high speed between an image input unit into which image data is input and a target tracking unit that processes the input image data to generate target tracking data.

According to an embodiment of the present invention, there is provided an apparatus for searching for guided images, comprising: an image detector for outputting image data; An image input unit that divides the image data and sequentially receives the divided image data; A target tracking unit for receiving the divided image data and generating target tracking data; And a communication channel unit for transmitting and receiving image data and target tracking data between the image input unit and the target tracking unit.

The image input unit may include a field programmable gate array (FPGA).

Wherein the image input unit comprises: an internal memory unit for dividing and storing the image data; And a preprocessor for preprocessing the divided image data.

The communication channel unit may include a direct memory access (DMA) channel.

Wherein the communication channel unit comprises: a first communication channel unit for transmitting image data from the image input unit to the target tracking unit; And a second communication channel unit transmitting target data from the target tracking unit to the image receiving unit, wherein the first communication channel unit and the second communication channel unit may be formed as separate channels.

The first communication channel unit and the second communication channel unit may include a PCI Express channel.

According to another aspect of the present invention, there is provided a method for searching for a guided image, the method comprising: outputting image data; Dividing and outputting the output image data; Transmitting the divided image data; Generating target tracking data from the image data; And transmitting the generated target tracking data.

The process of dividing and inputting the image data and transmitting the image data may be performed while receiving image data of one frame.

Dividing and inputting the image data comprises: dividing and storing the image data; And preprocessing the divided image data.

According to the image search apparatus and method for guided armed robots according to the embodiment of the present invention, image data output from the image detecting unit is divided and input and transmitted, thereby minimizing the image delay time and transmitting the large- have.

In addition, by storing and sequentially processing divided image data, which is a part of a large amount of image data, it is possible to generate target tracking data from image data only with an internal memory unit having a small storage capacity but a high processing speed, Thereby reducing the mass production cost for the system.

In addition, the multi-channel is formed by the PCI Express channel, and the transmission of the video data from the video input unit to the target tracking unit and the transmission of the target tracking data from the target tracking unit to the video input unit are realized by the optimal scheduling method, Communication can be implemented.

BRIEF DESCRIPTION OF THE DRAWINGS Fig.
2 is a diagram showing the configuration of an image guiding image searching apparatus according to an embodiment of the present invention.
3 is a diagram illustrating a process of transmitting data in a general image search apparatus.
4 is a diagram for explaining a process of transmitting data in an image-guiding image searching apparatus according to an embodiment of the present invention;
FIG. 5 illustrates a method for searching for guided images according to an embodiment of the present invention; FIG.

The present invention provides an image search apparatus and a search method for a guided weapon capable of transmitting data in real time at a high speed between an image input unit for inputting image data and a target tracking unit for processing input image data to generate target tracking data, .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, Is provided to fully inform the user. Wherein like reference numerals refer to like elements throughout.

The guided image search device plays an important role in the entire system of guided weapons, performing commands by receiving commands from the guiding device, and delivering the results of the mission performance back to the guiding device.

1 is a diagram showing a configuration of a general image search apparatus.

Referring to FIG. 1, in a general image search apparatus, image data output from the image detection unit 10 is input to the image input unit 30, and image data input to the image input unit 30 is transmitted through the communication channel unit 50 And is transmitted to the target tracking unit 40. The image data transmitted to the target tracking unit 40 is subjected to an algorithm process by a target tracking algorithm, and the algorithm result value, that is, target tracking data, is transmitted again to the image input unit 30 and finally transmitted to an inductive device through external communication .

Because of the nature of the guided weapon system, if one of the components constituting the guided weapon is defective during the actual launch, the guided weapon can intercept the other, so reliability and stability are more important than performance. Accordingly, when the image data is input from the image input unit 30, the image search apparatus transmits the input image data to the target tracking unit 40, and the target tracking unit 40 processes the image data by the target tracking algorithm And the process of sending the image data to the image input unit 30 is sequentially performed.

The image latency in the image search apparatus is such that the image data is delivered from the image output unit 10 to the target tracking unit 40 and processed until the resultant value reaches the image input unit again Lt; / RTI > This can be expressed as a sum of a video input time, a video data transmission time, and a result value transmission time. As the value of the image delay time decreases, the system margin performance of the image search apparatus can be improved.

For example, when the image output from the image detecting unit 10 is an infrared image, the infrared image data has a period of 50 Hz and has a size of 640 × 480 × 2 bytes per frame. In searching for the infrared image data, the outputted infrared image data is stored in the external memory unit 20, and the infrared image data of one frame is stored in the communication channel unit 50 And is transmitted to the target tracking unit 40. [

If the infrared image data of one frame having a size of 614400 bytes is transmitted through the communication channel unit 50 having a transmission speed of 250 MB / s, for example, 2.5 msec is required. That is, if the infrared image data slowly inputted for 20 msec with a period of 50 Hz is stored in the external memory unit 20 and transmitted through the communication channel unit 50 at one time, the image delay time has a value of 22.5 msec. That is, a loss due to the image delay time between the relatively slowly input infrared image data and the communication channel unit 50 having a high transmission rate occurs.

In addition, in the case of the PCI Express channel used as the communication channel unit 50 between the video input unit and the target processing unit, transmission and reception of video data are not performed at the same time. That is, the video data transmission time and the result value transmission time in the video delay time are values calculated using the PCI Express channel. The transmission of the image data to the image input unit 30 is performed in accordance with the target tracking algorithm of the target tracking algorithm. It has low priority because it is done when execution is completed. Accordingly, when the target tracking algorithm is completed while the video data is being transmitted to the target tracking unit 40 using the PCI Express channel in which the transmission and reception of the video data are not performed at the same time, The data is transmitted to the image input unit 30 after waiting for a predetermined time, that is, after the transmission of the image data is completed. Therefore, the latency for preventing the collision is included in the image delay time, thereby further increasing the image delay time.

The image searching apparatus for guided weapons according to the embodiment of the present invention aims at reducing image delay time in order to transmit image data in real time at high speed. As described above, in case of infrared image data, the input time is fixed at a period of 50 Hz. Accordingly, the image delay time is determined by the image transmission time between the image input unit and the target tracking unit through the communication channel unit. According to the image search apparatus for guided weapons according to the embodiment of the present invention, image data can be transmitted at high speed in real time between the image input unit and the target tracking unit, and the image data can be verified in real time using the reserved time, can do. Therefore, there is an effect that not only the performance of the image search apparatus but also the stability and reliability can be improved.

FIG. 2 is a block diagram illustrating a configuration of an image-guiding image searching apparatus according to an embodiment of the present invention.

Referring to FIG. 2, an apparatus for searching for guided images according to an exemplary embodiment of the present invention includes an image detecting unit 100 for outputting image data; An image input unit 200 for dividing the image data and sequentially receiving divided image data; A target tracking unit 400 receiving the divided image data and generating target tracking data; And a communication channel unit for transmitting and receiving image data and target tracking data between the image input unit 200 and the target tracking unit 400.

The image detecting unit 100 outputs image data. That is, the image detecting unit 100 obtains an image including a target, processes the obtained image into a digital signal, and outputs image data. A CCD sensor, a CMOS sensor, or an infrared image sensor may be used for acquiring the image, and a peripheral image captured from the front when the guided weapon is flying toward the target can be acquired. If the acquired image is a color image, it is processed as an RGB signal. If the acquired image is an infrared image, the image can be processed as a gray-scale image. Hereinafter, a configuration in which the image detecting unit 100 includes an infrared sensor and outputs infrared image data will be described as an example.

The image input unit 200 divides the image data and sequentially receives the divided image data from the image detection unit 100. Here, the image input unit 200 may include a field programmable gate array (FPGA). Field programmable gate arrays are a type of programmable non-memory semiconductors that can be re-engineered for different purposes, unlike ordinary semiconductors, which are not programmable. Accordingly, a logic circuit (Logic) for a series of functions for receiving image data from the image detecting unit 100, transmitting the image data to the target processing unit sequentially, and transmitting the target tracking data transmitted to the image input unit 200 to the inductive device ).

The image input unit 200 may include an internal memory unit 220 for dividing and storing image data, and a preprocessor 240 for preprocessing the divided image data.

The image data, for example, infrared image data generated and output from the image detecting unit 100 is input to the image input unit 200 and stored in the internal memory unit 220 of the image input unit 200. The internal memory unit 220 included in the image input unit 200 has a relatively small storage capacity but a relatively high processing speed as compared with the external memory unit configured separately from the image input unit 200, Only the divided infrared image data of a capacity that can be scheduled by the communication channel unit is stored in the internal memory unit 220 and can be transmitted at high speed in real time in comparison with the method of storing and transmitting all the infrared image data.

In calculating the image delay time, since the time when the infrared image data is input to the image input unit 200 has a fixed value, it is necessary to configure the system based on the efficiency and stability of the image transmission method in order to minimize the image transmission time shall. The infrared image data output from the image detecting unit 100 is divided and stored in the internal memory unit 220 of the image input unit 200 so that the infrared image data It is possible to minimize the image delay time by transmitting the infrared image data divided from the image input unit 200 to the target tracking unit 400 through the communication channel unit during the input.

The infrared image data output from the image detecting unit 100 is divided and stored in the internal memory unit 220 of the image input unit 200 and the infrared image data is output from the image input unit 200 to the target tracking unit 400, It is possible to perform the preprocessing in real time without increasing the image delay time with respect to the infrared image data input from the image input unit 200 by minimizing the image delay time by transmitting the image data. That is, the preprocessing unit 240 can verify the divided infrared image data stored in the internal memory unit 220 without increasing the image delay time, and perform preprocessing for improving, correcting, and supplementing the image quality.

The target tracking unit 400 receives the divided image data from the image input unit 200 and generates target tracking data. That is, the target tracking unit 400 sequentially receives the preprocessed divided infrared image data input to the image input unit 200, and when the reception of the infrared image data of one frame is completed, the target tracking unit 400 generates the infrared image data based on the received infrared image data And generates target tracking data. The target tracking unit 400 may include a central processing unit (CPU), and may be implemented to enable more accurate target tracking by using the correlation tracking method and the modified center tracking method simultaneously. Thus, the target tracking data may be generated during the target tracking, for example, position information acquired during tracking the target, tracking parameter data acquired during the target tracking algorithm, and the like.

The communication channel unit transmits and receives image data and target tracking data between the image input unit 200 and the target tracking unit 400. That is, the communication channel unit sequentially transmits the image data divided from the image input unit 200 to the target tracking unit 400, and transmits the target tracking data generated from the target tracking unit 400 to the image input unit 200. Generally, in the case of a PCI Express channel used as a communication channel unit between the video input unit 200 and the target processing unit, transmission and reception of video data are not simultaneously performed.

Accordingly, the communication channel unit according to the embodiment of the present invention includes a first communication channel unit 510 for transmitting image data from the image input unit 200 to the target tracking unit 400; And a second communication channel unit 520 for transmitting target data from the target tracking unit 400 to the image receiving unit. The first communication channel unit 510 and the second communication channel unit 520 include And can be formed as separate channels. Here, the first communication channel unit 510 and the second communication channel unit 520 may include a direct memory access (DMA) channel having a PCI Express channel.

In this manner, when a communication channel unit is formed by a multi-channel direct memory access (DMA) channel structure, input and output can be performed simultaneously with an optimal scheduling scheme. That is, the infrared ray image data is transmitted from the image input unit 200 to the target tracking unit 400 through the first communication channel unit 510, the infrared ray image data is transmitted from the target tracking unit 400 to the image input unit 200, The target tracking data is transmitted through the transmission channel 520 to implement a multi-channel, so that the communication channel unit can operate in a full duplex manner.

Hereinafter, an operation procedure of the image search apparatus for guided weapons according to the embodiment of the present invention will be described in detail with reference to FIG. 3 and FIG.

FIG. 3 is a view for explaining a process of transmitting data in a general image search apparatus, and FIG. 4 is a diagram for explaining a process of transmitting data in an image search apparatus for guided weapons according to an embodiment of the present invention.

3, in a typical image search apparatus, the entire infrared image data of one frame having a size of 640 × 480 × 2 bytes input to the image input unit is stored in the external memory unit, It takes a total of 22.5 msec (infrared image input time: 20 msec, infrared image data transmission: 2.5 msec).

On the other hand, as shown in FIG. 4, in the image search apparatus for guided weapons according to the embodiment of the present invention, the infrared image data of one frame is divided, for example, divided into 640 × 7 × 2 bytes Only the infrared image data is stored in the internal memory unit 220 provided in the image input unit 200 and is divided into the target tracking unit 400 through the first communication channel unit 510 simultaneously with the input of the divided infrared image data And transmits the image data. For example, among the 640 x 480 x 2 bytes of the infrared image data of the first frame, 640 x 476 x 2 bytes of the divided image data are sequentially inputted while the divided infrared image data is sequentially input. The infrared image data of the first frame is transmitted to the target tracking unit 400 while the infrared image data of the first frame is input to the image input unit 200. After the infrared image data of the first frame is input to the image input unit 200, Since only the 2 bytes of the infrared image data of the second frame are transmitted to the target tracking unit 400 during the input of the infrared image data of the second frame, all of the infrared image data of the first frame is transmitted to the target tracking unit 400, 20.02msec (infrared image input time: 20msec, infrared image data transfer: 0.02msec). In addition, it is possible to perform verification and verification of infrared image data inputted between the image input process and the image transmission process to the target tracking unit 400, correct and correct data errors, and finally process reliable infrared image data .

As shown in FIG. 3, the general image search apparatus transmits a half-duplex (half-duplex) image, which transmits the entire infrared image data of one frame to the target tracker, Lt; / RTI > In this case, if the infrared image data of the second frame is transmitted to the target tracking unit and the algorithm processing of the infrared image data of the second frame is delayed, a collision may occur with the time when the infrared image data of the third frame is transmitted. That is, since the transmission of the image data occurs every cycle of inputting the infrared image data, the transmission of the image data to the target tracking unit has a high priority, and the transmission of the target tracking data to the image input unit is completed It has a low priority. Therefore, the target tracking data subjected to the algorithm processing from the infrared image data of the second frame is transmitted to the image input unit after the transmission of the infrared image data of the third frame is terminated to prevent collision between the data.

On the other hand, as shown in FIG. 4, in the image search apparatus for guided weapons according to the embodiment of the present invention, the transmission operation of the infrared image data and the transmission of the target tracking data are simultaneously performed in a full duplex manner. For example, even when the infrared image data of the second frame is transmitted to the target tracking unit 400 and the algorithm processing of the infrared image data of the second frame is delayed, the time when the infrared image data of the third frame is transmitted No collision occurs. That is, since the transmission of the infrared image data and the transmission of the target tracking data are performed simultaneously on the separate channels, the target tracking data subjected to the algorithm processing from the infrared image data of the second frame is transmitted to the image inputting unit (200).

As a result of experimenting with a field programmable gate array (FPGA) firmware, the conventional infrared image search apparatus has an image delay time of 24.5 msec. It has been confirmed that the image searching apparatus for guided weapons according to the embodiment has an image delay time of 20.04 msec. That is, it is confirmed that there is a difference of about 2 times from the theoretical image delay time considering only the transmission speed according to the data size.

Image delay time, which is one of the important parameters in the guided image search apparatus, is closely related to the performance of the system margin necessary for capturing and tracking the target. That is, if the time of 4.5 msec is used only for transmission of the image data in the 20 msec synchronous system of the infrared image data, the system margin time to operate the target tracking algorithm is only 15.5 msec, and the distance between the targets and the size of the target There is also a possibility that the algorithm can not be processed within one frame according to the information of the target including the target. Therefore, in the case of the image search apparatus for guided weapons according to the embodiment of the present invention, the system margin required for the processing of the experimental result algorithm is secured to 19.96 msec, and the system design can be performed with almost no loss within 20 msec of the input period of the infrared image data . In addition, by implementing PCI Express channel communication using a multi-channel direct memory access channel, a full duplex system in which both transmission and reception are performed simultaneously realizes an efficient and stable scheduling system without data loss and error .

5 is a diagram illustrating a method of searching for a guided image according to an embodiment of the present invention.

Referring to FIG. 5, an image search method for guided weapons according to an embodiment of the present invention includes the steps of (S100) outputting image data; A step S200 of dividing and outputting the output image data; Transmitting the divided image data (S300); Generating target tracking data from the infrared image data (S500); And transmitting the generated target tracking data (S600).

In the step of outputting the image data (S100), the image detecting unit (100) obtains the image including the target, processes the obtained image into a digital signal, and outputs the image data. A CCD sensor, a CMOS sensor, or an infrared image sensor can be used for image acquisition, and the infrared image obtained using the infrared image sensor can be processed into a gray scale image as described above.

In step S200, the image input unit 200 divides the image data output from the image detection unit 100 and receives the divided image data. In step S200 of dividing and inputting the image data, the infrared image data of one frame having a size of 640 x 480 x 2 bytes is divided, and the size of 640 x 7 x 2 bytes In the internal memory unit 220 of the image input unit 200 and then stores the divided image data in the target tracking unit 400 through the first communication channel unit 510. [ .

The process of dividing and inputting the image data S200 includes dividing the image data and storing the divided image data in the internal memory 220 of the image input unit 200 and processing the image data divided and stored in the internal memory unit by the preprocessor 240 ). Since the internal memory unit 220 has a small storage capacity but a relatively high processing speed, only the divided infrared image data of a capacity that can be scheduled by the communication channel unit is stored in the internal memory unit 220, The preprocessing unit 240 can verify the divided infrared image data stored in the internal memory unit 220 without increasing the image delay time and perform preprocessing for image quality improvement, Same as.

In step S300, the infrared image data, which is sequentially divided and input to the infrared image data of one frame, is input to the image input unit 200 through the first communication channel unit 510, To the target tracking unit (400). In step S300, the divided infrared image data is sequentially input to the image input unit 200. For example, one frame of infrared image data is divided into 640 x 480 x 2 640 × 476 × 2 bytes of the byte are transmitted to the target tracking unit 400 while one frame of infrared image data is input to the image input unit 200 for 20 msec. After the input to the image input unit 200 is completed, only the 640 x 4 x 2 bytes are transmitted to the target tracking unit 400 while the infrared image data of the next frame is inputted.

In step S200 of dividing and inputting the image data and transmitting the divided image data in step S300, infrared image data of one frame is input to the image input unit 200 and transmitted to the target tracking unit 400 And continues sequentially until completion (S400). That is, the infrared image data having a size of 640 x 7 x 2 bytes divided for one frame of infrared image data of 640 x 480 x 2 bytes is continuously input to the image input unit 200, (400). ≪ / RTI > Finally, when infrared image data of one frame is inputted to the image input unit 200, and the infrared image data of the next frame is transmitted to only the 640 x 4 x 2 byte (byte), the target tracking unit 400 receives one frame The infrared ray image data of the infrared ray image is all transmitted to the target tracking unit 400.

When the data of one frame is transmitted to the target tracking unit 400, the target tracking unit 400 generates target tracking data (S500). That is, the target tracking unit 400 sequentially receives the preprocessed divided infrared image data inputted to the image input unit 200, if necessary, and when the reception of one frame of the infrared image data is completed, Based target tracking algorithm to generate target tracking data. Here, the target tracking data may include various target information including the distance between the targets, the size of the target, etc., as described above.

In step S600 of transmitting the target tracking data, the target tracking unit 400 transmits the target tracking data generated by the target tracking algorithm to the image input unit 200. [ The transmission of the target tracking data is performed by a second communication channel unit formed by a channel separate from the first communication channel unit for transmitting the infrared image data, whereby the transmission of the infrared image data and the transmission of the target tracking data are simultaneously performed It is possible to operate in a full duplex manner as described above.

That is, the transmission of the infrared image data and the transmission of the target tracking data are performed simultaneously on the separate channels, so that the infrared image data of one frame is transmitted to the target tracking unit 400, and the algorithm processing of the infrared image data of one frame Even when the frame is delayed, there is no collision with the time when the infrared image data of the next frame is transmitted.

According to the image searching apparatus and method for guided shooting according to the embodiment of the present invention, image delay time is minimized by dividing and inputting and transmitting image data output from the image detecting unit 100, High-speed transmission is possible.

In addition, the divided image data, which is a part of the large-capacity image data, is stored and sequentially processed, so that the target tracking data can be generated from the image data only by the internal memory unit 220 having a small storage capacity but high processing speed, It is possible to reduce the mass production cost for implementing the system.

In addition, it is also possible to form a multi-channel with the PCI Express channel so that the transmission of the image data from the image input unit 200 to the target tracking unit 400 and the transmission of the target tracking data from the target tracking unit 400 to the image input unit 200, To realize full duplex communication capable of both input and output simultaneously.

While the preferred embodiments of the present invention have been described and illustrated above using specific terms, such terms are used only for the purpose of clarifying the invention, and the embodiments of the present invention and the described terminology are intended to be illustrative, It will be obvious that various changes and modifications can be made without departing from the spirit and scope of the invention. Such modified embodiments should not be individually understood from the spirit and scope of the present invention, but should be regarded as being within the scope of the claims of the present invention.

100: image detecting unit 200:
220: internal memory unit 240: preprocessing unit
400: target tracking unit 510: first communication channel unit
520: second communication channel section

Claims (9)

An image detector for outputting image data;
An image input unit that divides the image data into a size of a byte unit set in one frame and sequentially receives the divided image data;
A target tracking unit for receiving the divided image data and generating target tracking data; And
And a communication channel unit for transmitting and receiving image data and target tracking data between the image input unit and the target tracking unit,
Wherein the image input unit comprises:
An internal memory for sequentially storing the image data divided in the one frame and transmitting the image data stored in the one frame among the divided image data to the target tracking unit; And
And a preprocessor for preprocessing the image data divided in the one frame and stored in the internal memory unit,
Wherein the communication channel unit comprises:
A first communication channel unit for transmitting image data divided from the image input unit to the target tracking unit; And
And a second communication channel unit for transmitting the target tracking data generated from the target tracking unit to the video input unit,
Wherein the first communication channel unit and the second communication channel unit are formed as separate channels and are adapted to transmit target tracking data generated from the second communication channel unit while the divided video data is being transmitted from the first communication channel unit, Armed image search device.
The method according to claim 1,
Wherein the image input unit includes a field programmable gate array (FPGA).
delete The method according to claim 1,
Wherein the communication channel unit includes a direct memory access (DMA) channel.
delete The method according to claim 1,
Wherein the first communication channel unit and the second communication channel unit include a PCI Express channel.
Outputting image data;
Dividing the output image data into a size of a byte unit set in one frame and receiving the divided image data;
Generating target tracking data from the image data; And
And transmitting the generated target tracking data,
The process of dividing and inputting the image data includes:
Sequentially storing the divided image data in one frame and transmitting the stored image data among the divided image data in one frame; And
And preprocessing the image data divided and stored in the one frame,
The process of transmitting the generated target tracking data includes:
And transmits the target tracking data generated by the second communication channel unit formed with a channel different from the first communication channel unit while the divided video data is being transmitted by the first communication channel unit.
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