基于Zynq soc的环境识别激光雷达智能数据控制系统

Ru-qing Liu, Jing-guo Zhu, Feng Li, Yan Jiang, Cheng-hao Jiang, Zhe Meng, Zhengyu Zhang
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摘要

目前,激光测距广泛应用于工业和安全领域。激光雷达作为最著名的脉冲激光探测系统之一,是一种非常有效的环境识别设备。目前,自动驾驶和智能汽车技术的研究近年来呈指数级增长,其中集成了越来越多的智能硬件或软件。大多数研究几乎都是基于具有随机延迟的非实时操作系统,这导致接收到的数据存在滞后和不准确。基于自主开发的三维激光雷达,提出了一种基于FPGA Zynq的智能嵌入式实时数据传输系统。该实时信号采集与传输系统在三维成像实验系统中进行了实现和验证。在该系统中,采用verilog码进行激光雷达数据控制的采集和传输。使用C/ c++代码进行数据计算,并通过网络将点云数据上传到计算机,实现点云的实时显示。实验结果表明,FPGA板能够正确读取激光雷达数据。此外,实时数据采集满足控制和20fps实时数据采集和处理的要求。提出的方法为许多使用激光雷达作为传感器的应用提供了一个非常有用的基础平台,并将提高其检测精度。
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A smart data control system for environment recognition lidar on Zynq SoCs
Nowadays, laser ranging is widely used in industrial and security fields. As one of the most well-known pulse laser detection system, Lidar is a much effective equipment for environmental recognition. Currently, research on autonomous and smart vehicles technology has been growing exponentially in recent years by integrating more and more smart hardware or software inside. Most studies are almost based on non-real-time operating system with random delays, which leads to lag and inaccuracies in the received data. Based on a self-developed three-dimensional Lidar, a smart embedded system for real-time data transmission on the FPGA Zynq is proposed. The real-time signal acquisition and transmission system is implemented and verified in the three-dimensional imaging experiments system. In this system, verilog code is applied for Lidar data control acquisition and transmission. C/C++ code is used for data calculation and uploading the point cloud data to the computer through the network to realize the real-time display of point cloud. Experimental results demonstrate that the Lidar data are correctly read by the FPGA board. In addition, the real time data acquisition meets the requirements of control and real time data acquisition and procession at 20fps. The proposed approach provides a very useful basic platform for many applications using Lidar as a sensor and will improve their detection accuracy.
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