2026-05-12T13:09:04Z https://ipsj.ixsq.nii.ac.jp/oai

oai:ipsj.ixsq.nii.ac.jp:00186672 2025-01-20T02:29:55Z 6164:6165:9440:9441

Implementation of ROS-Compliant FPGA Component of Image Processing Hardware using High Level Synthesis Implementation of ROS-Compliant FPGA Component of Image Processing Hardware using High Level Synthesis Yuhei, Sugata Takeshi, Ohkawa Kanemitsu, Ootsu Takashi, Yokota Yuhei, Sugata Takeshi, Ohkawa Kanemitsu, Ootsu Takashi, Yokota FPGA, ROS, Robot, High Level Synthesis, Image Processing The advancement of intelligents robot require high-performance image processing with low power consumption. FPGA (Field Programmable Gate Array) is expected to perform this image processing with low power consumption, however, the cost of developing FPGA is too high to introduce. To reduce the development cost, High Level Synthesis (HLS), which generates hardwired circuits from behavioral description written by C language, is effective. On the other hand, the use of ROS (Robot Operating System) is increasing for the development of intelligent robot system in order to reduce the development. We proposed "ROS-Compliant FPGA Component" to introduce FPGA into robot easily, by componentizing FPGA circuit into ROS node. In this presentation, the implementation of the ROS-Compliant FPGA component of image processing hardware using HLS is described. As an example, a detailed implementation of ROS-Compliant FPGA component with FAST feature point detection circuit, which is generated by using Xilinx Vivado-HLS and HLS video library based on OpenCV, is explained. The advancement of intelligents robot require high-performance image processing with low power consumption. FPGA (Field Programmable Gate Array) is expected to perform this image processing with low power consumption, however, the cost of developing FPGA is too high to introduce. To reduce the development cost, High Level Synthesis (HLS), which generates hardwired circuits from behavioral description written by C language, is effective. On the other hand, the use of ROS (Robot Operating System) is increasing for the development of intelligent robot system in order to reduce the development. We proposed "ROS-Compliant FPGA Component" to introduce FPGA into robot easily, by componentizing FPGA circuit into ROS node. In this presentation, the implementation of the ROS-Compliant FPGA component of image processing hardware using HLS is described. As an example, a detailed implementation of ROS-Compliant FPGA component with FAST feature point detection circuit, which is generated by using Xilinx Vivado-HLS and HLS video library based on OpenCV, is explained. conference paper 情報処理学会 2018-03-02 application/pdf 組込みシステムワークショップ2017論文集 2017 23 23 https://ipsj.ixsq.nii.ac.jp/record/186672/files/IPSJ-ESW2017007.pdf eng