SoC FPGA implementation of an unmanned mobile vehicle with an image transmission system over VNC

2021 International Conference on Field-Programmable Technology (ICFPT) Pub Date : 2021-12-06 DOI:10.1109/ICFPT52863.2021.9609904

Keigo Motoyoshi, Yuta Imamura, Taichi Saikai, Koki Fujita, Daiki Furukawa, Masatomo Matsuda, Tatsuma Mori, Yasutoshi Araki, Takehiro Miura, Keizo Yamashita, Haruto Ikehara, Kaito Ohira, Katsuaki Kamimae, Takuho Kawazu, Masahiro Nishimura, Shintaro Matsui, Koki Tomonaga, Taito Manabe, Yuichiro Shibata

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Abstract

We are developing the unmanned mobile vehicle implemented on SoC FPGA for the FPGA design competition. For highly productive development of image-based self-driving mobile vehicles, a remote verification and debugging environment with real-time image transmission is important. This paper presents an image transmission system with which we can monitor onboard camera images of the vehicle and feature detection results over VNC Wi-Fi connection. We implemented the whole system on a Xilinx Zynq-7000 with a maximum operating frequency of 125 MHz. The evaluation of the system showed that the resolution of 640×720 is the most beneficial for VNC in this experiment in terms of the performance ratio of VNC to SSH X11 forwarding. We also shortly describe other components to be used to develop the autonomous driving system in this paper.

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SoC FPGA实现的一种带有VNC图像传输系统的无人驾驶移动车辆

我们正在为FPGA设计竞赛开发基于SoC FPGA的无人驾驶移动车辆。为了高效地开发基于图像的自动驾驶汽车，具有实时图像传输的远程验证和调试环境非常重要。本文介绍了一种图像传输系统，该系统可以通过VNC Wi-Fi连接监控车载摄像头图像和特征检测结果。我们在Xilinx Zynq-7000上实现了整个系统，最大工作频率为125 MHz。系统评估表明，在本次实验中，从VNC对SSH X11转发的性能比来看，640×720的分辨率是最有利于VNC的。本文还简要介绍了用于开发自动驾驶系统的其他组件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2021 International Conference on Field-Programmable Technology (ICFPT)

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