| Presentation | 2021-01-26 FPGA Implementation of Semantic Segmentation on LWIR Images for Autonomous Robot Yuichiro Niwa, Taiki Fujii, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Recently, deep learning of images has made remarkable progress, and its results are being applied to the automaticrecognition function of surveillance cameras and automated driving and other robot vision applications. The daylight camerasare currently the most common vision sensors. However, there is a limit to the use them in dark places and in environments withillumination changes. On the other hand, a Long-wave infrared(LWIR) camera has negligible effect on the sensing performancein these conditions and can be used continuously and stably in such environments. In this paper, we introduce a method fordetecting and recognizing obstacles such as vehicles and people, and for identifying driveways and other free spaces by using aconvolutional neural network (LWIRSegNet) to segment LWIR images into semantic regions. We also propose a low-costtraining method for training data preparation and annotation. In order to use it as an obstacle avoidance function of an autonomousrobot, we have implemented it in a small, low power and high speed FPGA. In this paper, we describe the construction ofLWIRSegNet on an autonomous mobile robot and its implementation on a Xilinx ZCU102 FPGA board using the DNNDKtoolkit. We also propose a low-cost training method for training data preparation and annotation. The experimental results showthat the inference speed of LWIRSegNet on FPGA is 102 fps, and the obstacle avoidance control cycle of the autonomous robotusing LWIRSegNet on FPGA is 100 Hz. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Deep Learning / FPGA / Semantic Segmentation / Long-Wave Infrared(LWIR) / Autonomous Robot |
| Paper # | VLD2020-57,CPSY2020-40,RECONF2020-76 |
| Date of Issue | 2021-01-18 (VLD, CPSY, RECONF) |
| Conference Information | |
| Committee | CPSY / RECONF / VLD / IPSJ-ARC / IPSJ-SLDM |
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| Conference Date | 2021/1/25(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Online |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | FPGA Applications, etc. |
| Chair | Hidetsugu Irie(Univ. of Tokyo) / Yuichiro Shibata(Nagasaki Univ.) / Daisuke Fukuda(Fujitsu Labs.) / Hiroshi Inoue(Kyushu Univ.) / Yuichi Nakamura(NEC) |
| Vice Chair | Michihiro Koibuchi(NII) / Kota Nakajima(Fujitsu Lab.) / Kentaro Sano(RIKEN) / Yoshiki Yamaguchi(Tsukuba Univ.) / Kazutoshi Kobayashi(Kyoto Inst. of Tech.) |
| Secretary | Michihiro Koibuchi(Hokkaido Univ.) / Kota Nakajima(Nagoya Inst. of Tech.) / Kentaro Sano(e-trees.Japan) / Yoshiki Yamaguchi(NEC) / Kazutoshi Kobayashi(Hitachi) / (Osaka Univ.) / (Fujitsu lab.) |
| Assistant | Shugo Ogawa(Hitachi) / Eiji Arima(Univ. of Tokyo) / Hiroki Nakahara(Tokyo Inst. of Tech.) / Yukitaka Takemura(INTEL) / Takuma Nishimoto(Hitachi) |
| Paper Information | |
| Registration To | Technical Committee on Computer Systems / Technical Committee on Reconfigurable Systems / Technical Committee on VLSI Design Technologies / Special Interest Group on System Architecture / Special Interest Group on System and LSI Design Methodology |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | FPGA Implementation of Semantic Segmentation on LWIR Images for Autonomous Robot |
| Sub Title (in English) | |
| Keyword(1) | Deep Learning |
| Keyword(2) | FPGA |
| Keyword(3) | Semantic Segmentation |
| Keyword(4) | Long-Wave Infrared(LWIR) |
| Keyword(5) | Autonomous Robot |
| 1st Author's Name | Yuichiro Niwa |
| 1st Author's Affiliation | Acquisition,Technology & Logistics Agency(ATLA) |
| 2nd Author's Name | Taiki Fujii |
| 2nd Author's Affiliation | eSOL Co.Ltd.(eSOL) |
| Date | 2021-01-26 |
| Paper # | VLD2020-57,CPSY2020-40,RECONF2020-76 |
| Volume (vol) | vol.120 |
| Number (no) | VLD-337,CPSY-338,RECONF-339 |
| Page | pp.pp.101-106(VLD), pp.101-106(CPSY), pp.101-106(RECONF), |
| #Pages | 6 |
| Date of Issue | 2021-01-18 (VLD, CPSY, RECONF) |