Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall realtime reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators.Comment: Accepted in the International Archives of the Photogrammetry, Remote Sensing and Spatial Information Scienc

Fast Power and Energy Efficiency Analysis of FPGA-based Wireless Base-band Processing

Nowadays, demands for high performance keep on increasing in the wireless communication domain. This leads to a consistent rise of the complexity and designing such systems has become a challenging task. In this context, energy efficiency is considered as a key topic, especially for embedded systems in which design space is often very constrained. In this paper, a fast and accurate power estimation approach for FPGA-based hardware systems is applied to a typical wireless communication system. It aims at providing power estimates of complete systems prior to their implementations. This is made possible by using a dedicated library of high-level models that are representative of hardware IPs. Based on high-level simulations, design space exploration is made a lot faster and easier. The definition of a scenario and the monitoring of IP's time-activities facilitate the comparison of several domain-specific systems. The proposed approach and its benefits are demonstrated through a typical use case in the wireless communication domain.Comment: Presented at HIP3ES, 201

Design of a WSN Platform for Long-Term Environmental Monitoring for IoT Applications

The Internet of Things (IoT) provides a virtual view, via the Internet Protocol, to a huge variety of real life objects, ranging from a car, to a teacup, to a building, to trees in a forest. Its appeal is the ubiquitous generalized access to the status and location of any "thing" we may be interested in. Wireless sensor networks (WSN) are well suited for long-term environmental data acquisition for IoT representation. This paper presents the functional design and implementation of a complete WSN platform that can be used for a range of long-term environmental monitoring IoT applications. The application requirements for low cost, high number of sensors, fast deployment, long lifetime, low maintenance, and high quality of service are considered in the specification and design of the platform and of all its components. Low-effort platform reuse is also considered starting from the specifications and at all design levels for a wide array of related monitoring application