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Implementation of improved RGBD 3D target detection model based on FPGA heterogeneous computing architecture

In order to solve the problems of low model accuracy,poor computing power,poor parallel ability and excessive power consumption in the deployment of RGBD based 3 D target detection model at the embedded end,this paper first proposes an improved RGBD 3 D target detection model based on ENet semantic segmentation model,which takes ENet as the semantic segmentation network,RGB image and depth information are fused to realize 3 D target detection.Secondly,in order to apply the model at the edge,this paper constructs a lightweight network and cuts the network in the down-sampling stage of ENet model.Finally,this paper uses Xilinx ZCU104 as the hardware development kit,which takes FPGA as the auxiliary parallel operation unit and ARM as the main operation unit.It is a heterogeneous computing architecture with the ability to deal with complex operations.The architecture uses FPGA to accelerate the depth model in parallel,which improves the operation speed and reduces the power consumption.The test results of the model on ZCU104 are compared with other hardware.The results show that while ensuring the accuracy,the power consumption of the heterogeneous computing architecture used in this paper is 93% lowerthan that of Intel Xeon e5-2620 v4 CPU,the speed is 12 times higher,and the speed is more than 180 times higher than that of ARM Cortex-A53 commonly used at the edge.

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