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Real-time semantic segmentation on FPGAs for autonomous vehicles with hls4ml
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- Ghielmetti, N. (author)
- Organisation européenne pour la recherche nucléaire (CERN),European Organization for Nuclear Research (CERN),Politecnico di Milano,Polytechnic University of Milan
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- Loncar, V. (author)
- Univerzitet u Beogradu,University of Belgrade,Organisation européenne pour la recherche nucléaire (CERN),European Organization for Nuclear Research (CERN)
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- Pierini, M. (author)
- Organisation européenne pour la recherche nucléaire (CERN),European Organization for Nuclear Research (CERN)
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- Ngadiuba, J. (author)
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- (creator_code:org_t)
- 2022-11-04
- 2022
- English.
- In: Machine Learning - Science and Technology. - : IOP Publishing. - 2632-2153. ; 3:4
- Journal article (peer-reviewed)
Abstract
Subject headings
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- In this paper, we investigate how field programmable gate arrays can serve as hardware accelerators for real-time semantic segmentation tasks relevant for autonomous driving. Considering compressed versions of the ENet convolutional neural network architecture, we demonstrate a fully-on-chip deployment with a latency of 4.9 ms per image, using less than 30% of the available resources on a Xilinx ZCU102 evaluation board. The latency is reduced to 3 ms per image when increasing the batch size to ten, corresponding to the use case where the autonomous vehicle receives inputs from multiple cameras simultaneously. We show, through aggressive filter reduction and heterogeneous quantization-aware training, and an optimized implementation of convolutional layers, that the power consumption and resource utilization can be significantly reduced while maintaining accuracy on the Cityscapes dataset.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Kommunikationssystem (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Communication Systems (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Keyword
- FPGA
- computer vision
- deep learning
- hls4ml
- machine learning
- autonomous vehicles
- semantic segmentation
- Computer Science
- Science & Technology - Other Topics
- machine learning
Publication and Content Type
- ref (subject category)
- art (subject category)
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- Ghielmetti, N.
- Loncar, V.
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- Roed, M.
- Summers, S.
- Aarrestad, T.
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- Ngadiuba, J.
- Lin, K. L.
- Harris, P.
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- Chalmers University of Technology
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