{"title":"Implementation of a perception system for autonomous vehicles using a detection-segmentation network in SoC FPGA","authors":"Maciej Baczmanski, Mateusz Wasala, T. Kryjak","doi":"10.48550/arXiv.2307.08682","DOIUrl":"https://doi.org/10.48550/arXiv.2307.08682","url":null,"abstract":"Perception and control systems for autonomous vehicles are an active area of scientific and industrial research. These solutions should be characterised by high efficiency in recognising obstacles and other environmental elements in different road conditions, real-time capability, and energy efficiency. Achieving such functionality requires an appropriate algorithm and a suitable computing platform. In this paper, we have used the MultiTaskV3 detection-segmentation network as the basis for a perception system that can perform both functionalities within a single architecture. It was appropriately trained, quantised, and implemented on the AMD Xilinx Kria KV260 Vision AI embedded platform. By using this device, it was possible to parallelise and accelerate the computations. Furthermore, the whole system consumes relatively little power compared to a CPU-based implementation (an average of 5 watts, compared to the minimum of 55 watts for weaker CPUs, and the small size (119mm x 140mm x 36mm) of the platform allows it to be used in devices where the amount of space available is limited. It also achieves an accuracy higher than 97% of the mAP (mean average precision) for object detection and above 90% of the mIoU (mean intersection over union) for image segmentation. The article also details the design of the Mecanum wheel vehicle, which was used to test the proposed solution in a mock-up city.","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122196864","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Implementation of a perception system for autonomous vehicles using a detection-segmentation network in SoC FPGA","authors":"Maciej Baczmanski, Mateusz Wasala, T. Kryjak","doi":"10.1007/978-3-031-42921-7_14","DOIUrl":"https://doi.org/10.1007/978-3-031-42921-7_14","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"32 1","pages":"200-211"},"PeriodicalIF":0.0,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139358705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Fast Approximation of the Top-k Items in Data Streams Using a Reconfigurable Accelerator","authors":"Ali Ebrahim, Jalal Khalifat","doi":"10.1007/978-3-030-79025-7_1","DOIUrl":"https://doi.org/10.1007/978-3-030-79025-7_1","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"5 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131436856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hector Gerardo Muñoz Hernandez, M. Veleski, M. Brandalero, M. Hübner
{"title":"Accelerating Convolutional Neural Networks in FPGA-based SoCs using a Soft-Core GPU","authors":"Hector Gerardo Muñoz Hernandez, M. Veleski, M. Brandalero, M. Hübner","doi":"10.1007/978-3-030-79025-7_20","DOIUrl":"https://doi.org/10.1007/978-3-030-79025-7_20","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124097812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"High-Level Synthesis in Implementing and Benchmarking Number Theoretic Transform in Lattice-Based Post-Quantum Cryptography Using Software/Hardware Codesign","authors":"D. Nguyen, V. Dang, K. Gaj","doi":"10.1007/978-3-030-44534-8_19","DOIUrl":"https://doi.org/10.1007/978-3-030-44534-8_19","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131982344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Gökhan Akgün, Habib ul Hasan Khan, M. Hebaish, M. Elshimy, M. A. E. Ghany, D. Göhringer
{"title":"SysIDLib: A High-Level Synthesis FPGA Library for Online System Identification","authors":"Gökhan Akgün, Habib ul Hasan Khan, M. Hebaish, M. Elshimy, M. A. E. Ghany, D. Göhringer","doi":"10.1007/978-3-030-44534-8_8","DOIUrl":"https://doi.org/10.1007/978-3-030-44534-8_8","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114661124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Anna Drewes, J. Joseph, B. Gurumurthy, David Broneske, G. Saake, Thilo Pionteck
{"title":"Optimising Operator Sets for Analytical Database Processing on FPGAs","authors":"Anna Drewes, J. Joseph, B. Gurumurthy, David Broneske, G. Saake, Thilo Pionteck","doi":"10.1007/978-3-030-44534-8_3","DOIUrl":"https://doi.org/10.1007/978-3-030-44534-8_3","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126001844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"RISC-V Based MPSoC Design Exploration for FPGAs: Area, Power and Performance","authors":"Muhammad Ali, P. Rad, D. Göhringer","doi":"10.1007/978-3-030-44534-8_15","DOIUrl":"https://doi.org/10.1007/978-3-030-44534-8_15","url":null,"abstract":"","PeriodicalId":234453,"journal":{"name":"International Workshop on Applied Reconfigurable Computing","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128333076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}