An autonomous driving system utilizing image processing accelerated by FPGA

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

doi:10.1109/ICFPT52863.2021.9609937

An autonomous driving system utilizing image processing accelerated by FPGA

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

School of Fundamental Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	2021 International Conference on Field-Programmable Technology, ICFPT 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665420105
DOIs	https://doi.org/10.1109/ICFPT52863.2021.9609937
Publication status	Published - 2021
Event	20th International Conference on Field-Programmable Technology, ICFPT 2021 - Virtual, Auckland, New Zealand Duration: 2021 Dec 6 → 2021 Dec 10

Publication series

Name	2021 International Conference on Field-Programmable Technology, ICFPT 2021

Conference

Conference	20th International Conference on Field-Programmable Technology, ICFPT 2021
Country/Territory	New Zealand
City	Virtual, Auckland
Period	21/12/6 → 21/12/10

Keywords

FPGA
ROS
autonomous driving

ASJC Scopus subject areas

Computer Science Applications
Computer Vision and Pattern Recognition
Software

Access to Document

10.1109/ICFPT52863.2021.9609937

Cite this

Takasaki, K., Hisafuru, K., Negishi, R., Yamashita, K., Fukada, K., Wakaizumi, T., & Togawa, N. (2021). An autonomous driving system utilizing image processing accelerated by FPGA. In 2021 International Conference on Field-Programmable Technology, ICFPT 2021 (2021 International Conference on Field-Programmable Technology, ICFPT 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICFPT52863.2021.9609937

An autonomous driving system utilizing image processing accelerated by FPGA. / Takasaki, Kazunari; Hisafuru, Kota; Negishi, Ryotaro et al.

2021 International Conference on Field-Programmable Technology, ICFPT 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 International Conference on Field-Programmable Technology, ICFPT 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takasaki, K, Hisafuru, K, Negishi, R, Yamashita, K, Fukada, K, Wakaizumi, T & Togawa, N 2021, An autonomous driving system utilizing image processing accelerated by FPGA. in 2021 International Conference on Field-Programmable Technology, ICFPT 2021. 2021 International Conference on Field-Programmable Technology, ICFPT 2021, Institute of Electrical and Electronics Engineers Inc., 20th International Conference on Field-Programmable Technology, ICFPT 2021, Virtual, Auckland, New Zealand, 21/12/6. https://doi.org/10.1109/ICFPT52863.2021.9609937

Takasaki K, Hisafuru K, Negishi R, Yamashita K, Fukada K, Wakaizumi T et al. An autonomous driving system utilizing image processing accelerated by FPGA. In 2021 International Conference on Field-Programmable Technology, ICFPT 2021. Institute of Electrical and Electronics Engineers Inc. 2021. (2021 International Conference on Field-Programmable Technology, ICFPT 2021). doi: 10.1109/ICFPT52863.2021.9609937

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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.",

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doi = "10.1109/ICFPT52863.2021.9609937",

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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.

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An autonomous driving system utilizing image processing accelerated by FPGA

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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