TY - GEN
T1 - An autonomous driving system utilizing image processing accelerated by FPGA
AU - Takasaki, Kazunari
AU - Hisafuru, Kota
AU - Negishi, Ryotaro
AU - Yamashita, Kazuki
AU - Fukada, Keisuke
AU - Wakaizumi, Tomoya
AU - Togawa, Nozomu
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
KW - FPGA
KW - ROS
KW - autonomous driving
UR - http://www.scopus.com/inward/record.url?scp=85123189918&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85123189918&partnerID=8YFLogxK
U2 - 10.1109/ICFPT52863.2021.9609937
DO - 10.1109/ICFPT52863.2021.9609937
M3 - Conference contribution
AN - SCOPUS:85123189918
T3 - 2021 International Conference on Field-Programmable Technology, ICFPT 2021
BT - 2021 International Conference on Field-Programmable Technology, ICFPT 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th International Conference on Field-Programmable Technology, ICFPT 2021
Y2 - 6 December 2021 through 10 December 2021
ER -