학술논문
SoC FPGA implementation of an unmanned mobile vehicle with an image transmission system over VNC
Document Type
Conference
Author
Motoyoshi, Keigo; Imamura, Yuta; Saikai, Taichi; Fujita, Koki; Furukawa, Daiki; Matsuda, Masatomo; Mori, Tatsuma; Araki, Yasutoshi; Miura, Takehiro; Yamashita, Keizo; Ikehara, Haruto; Ohira, Kaito; Kamimae, Katsuaki; Kawazu, Takuho; Nishimura, Masahiro; Matsui, Shintaro; Tomonaga, Koki; Manabe, Taito; Shibata, Yuichiro
Source
2021 International Conference on Field-Programmable Technology (ICFPT) Field-Programmable Technology (ICFPT), 2021 International Conference on. :1-4 Dec, 2021
Subject
Language
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.