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| Presentation | 2021-01-26 09:50 FPGA Implementation of Semantic Segmentation on LWIR Images for Autonomous Robot Yuichiro Niwa (ATLA), Taiki Fujii (eSOL)  VLD2020-57 CPSY2020-40 RECONF2020-76 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Recently, deep learning of images has made remarkable progress, and its results are being applied to the automatic recognition function of surveillance cameras and automated driving and other robot vision applications. The daylight cameras are currently the most common vision sensors. However, there is a limit to the use them in dark places and in environments with illumination changes. On the other hand, a Long-wave infrared(LWIR) camera has negligible effect on the sensing performance in these conditions and can be used continuously and stably in such environments. In this paper, we introduce a method for detecting and recognizing obstacles such as vehicles and people, and for identifying driveways and other free spaces by using a convolutional neural network (LWIRSegNet) to segment LWIR images into semantic regions. We also propose a low-cost training method for training data preparation and annotation. In order to use it as an obstacle avoidance function of an autonomous robot, we have implemented it in a small, low power and high speed FPGA. In this paper, we describe the construction of LWIRSegNet on an autonomous mobile robot and its implementation on a Xilinx ZCU102 FPGA board using the DNNDK toolkit. We also propose a low-cost training method for training data preparation and annotation. The experimental results show that the inference speed of LWIRSegNet on FPGA is 102 fps, and the obstacle avoidance control cycle of the autonomous robot using LWIRSegNet on FPGA is 100 Hz. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Deep Learning / FPGA / Semantic Segmentation / Long-Wave Infrared(LWIR) / Autonomous Robot / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 120, no. 339, RECONF2020-76, pp. 101-106, Jan. 2021. | |
| Paper # | RECONF2020-76 | |
| Date of Issue | 2021-01-18 (VLD, CPSY, RECONF) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | VLD2020-57 CPSY2020-40 RECONF2020-76 |
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| Conference Information | |
| Committee | CPSY RECONF VLD IPSJ-ARC IPSJ-SLDM |
| Conference Date | 2021-01-25 - 2021-01-26 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Online |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | FPGA Applications, etc. |
| Paper Information | |
| Registration To | RECONF |
| Conference Code | 2021-01-CPSY-RECONF-VLD-ARC-SLDM |
| Language | Japanese |
| 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 |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 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) |
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| Speaker | Author-1 |
| Date Time | 2021-01-26 09:50:00 |
| Presentation Time | 25 minutes |
| Registration for | RECONF |
| Paper # | VLD2020-57, CPSY2020-40, RECONF2020-76 |
| Volume (vol) | vol.120 |
| Number (no) | no.337(VLD), no.338(CPSY), no.339(RECONF) |
| Page | pp.101-106 |
| #Pages | 6 |
| Date of Issue | 2021-01-18 (VLD, CPSY, RECONF) |
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