An autonomous driving system utilizing image processing accelerated by FPGA

Kazunari Takasaki, Kota Hisafuru, Ryotaro Negishi, Kazuki Yamashita, Keisuke Fukada, Tomoya Wakaizumi, Nozomu Togawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents an autonomous driving system utilizing FPGA-based image processing. We develop a robot that our system is implemented on Ultra96-V2, a board with programmable logic and processing system. We use ROS, a middleware framework for developing robots, to manage the system such as controlling hardware devices, localization and determination of the direction to go. We implement a neural network to detect road markings on the road on a programmable logic on the board. The robot with our system implemented drives autonomously along the specified route on a miniature road, recognizing edge line and road markings.

Original languageEnglish
Title of host publication2021 International Conference on Field-Programmable Technology, ICFPT 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665420105
DOIs
Publication statusPublished - 2021
Event20th International Conference on Field-Programmable Technology, ICFPT 2021 - Virtual, Auckland, New Zealand
Duration: 2021 Dec 62021 Dec 10

Publication series

Name2021 International Conference on Field-Programmable Technology, ICFPT 2021

Conference

Conference20th International Conference on Field-Programmable Technology, ICFPT 2021
Country/TerritoryNew Zealand
CityVirtual, Auckland
Period21/12/621/12/10

Keywords

  • FPGA
  • ROS
  • autonomous driving

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Software

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