Real time FPGA-ANN architecture for outdoor obstacle detection focused in road safety

摘要

Object detection is a technologically challenging issue, which is useful for safety in outdoor environments, where this object, frequently, represents an obstacle that must be avoided. Although several object detection methods have been developed in recent years, they usually tend to produce poor results in outdoor environments, being mainly affected by sunlight, light intensity, shadows, and limited computational resources. This open problem is the main motivation for exploring the challenge of developing low-cost object detection solutions, with the characteristic of being easily adaptable and having low power requirements, such as the ones needed in on-board obstacle detection systems in automobiles. In this work, we present a trade-off analysis of several architectures using an FPGA-based design that implements ANNs (FPGA-ANN) for outdoor obstacle detection, focused in road safety. The analyzed FPGA-ANN architectures merge outdoor data gathered by a Kinect sensor, images and infrared data, to construct an outdoor environment model for object detection, which allows to detect if there is an obstacle in the near surroundings of a vehicle.