该系统包括驱动、控制、通信、计算和反馈五部分，并DSP芯片TMS320 LF 2407。

It included five parts of driving, control, communication, computation and feedback based on DSP chip TMS320LF2407.

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其内容包括：系统软、硬件组成：图像预处理和边缘检测、二值化处理、细化处理和边缘连接五部分。

The content include: the software and the hardware of the system, image pre-processing, two-valued processing, features processing and edge connect.

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