{"title":"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","authors":"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","doi":"10.1109/ICFPT52863.2021.9609904","DOIUrl":null,"url":null,"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.","PeriodicalId":376220,"journal":{"name":"2021 International Conference on Field-Programmable Technology (ICFPT)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"SoC FPGA implementation of an unmanned mobile vehicle with an image transmission system over VNC\",\"authors\":\"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\",\"doi\":\"10.1109/ICFPT52863.2021.9609904\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":376220,\"journal\":{\"name\":\"2021 International Conference on Field-Programmable Technology (ICFPT)\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-12-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 International Conference on Field-Programmable Technology (ICFPT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICFPT52863.2021.9609904\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Conference on Field-Programmable Technology (ICFPT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICFPT52863.2021.9609904","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
SoC FPGA implementation of an unmanned mobile vehicle with an image transmission system over VNC
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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