GigE vision data acquisition for visual servoing using SG/DMA proxying
GigE vision data acquisition for visual servoing using SG/DMA proxying
复制标题
使用 SG/DMA 代理进行视觉伺服的 GigE 视觉数据采集
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
S. Chakraborty
中科院分区：
文献类型：
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作者：
M. Geier;Florian Pitzl;S. Chakraborty
在机器人和工业自动化等许多领域，越来越多的控制应用将摄像机用作传感器。这种视觉伺服系统越来越依赖于千兆以太网（GigE）作为通信骨干，并要求实时执行。在适合相应领域的小型低功耗嵌入式平台上的实现在计算和通信方面都具有挑战性。虽然CPU和现场可编程门阵列（FPGA）技术的进步使计算量更大的图像处理流水线的实现成为可能，但这些平台与基于以太网的通信骨干之间的接口仍然需要精心设计，以实现快速和确定性的图像采集。尽管标准化的基于以太网的摄像机协议（如GigE Vision）统一了摄像机配置和数据传输，但传统的基于软件的图像采集在小型、低功耗嵌入式平台上仍存在不足，原因是吞吐量和延迟限制以及解码此类多层协议所造成的开销。在本文中，我们提出了分散-聚集直接存储器访问（SG/DMA）代理作为一种通用的方法，无缝扩展现有的网络子系统的当前系统子芯片（SoC）与基于硬件的过滤功能。基于此，我们提出了一种新的混合硬核/软核GigE视觉帧采集卡，能够直接馈送后续的流中图像处理流水线，具有亚微秒的采集延迟。通过使用SG/DMA代理将所有传入的以太网帧重新路由到我们的GigE Vision Bridge，我们能够在零CPU和内存干预的情况下分离图像和非图像数据，并以千兆以太网的全线速执行图像采集（即，125 Mpx/s（灰度视频）。我们的实验评估表明，我们提出的架构上的可编程SoC（pSoC），结合了固定功能的多核SoC与可配置的FPGA结构的好处。
In many domains such as robotics and industrial automation, a growing number of Control Applications utilize cameras as a sensor. Such Visual Servoing Systems increasingly rely on Gigabit Ethernet (GigE) as a communication backbone and require real-time execution. The implementation on small, low-power embedded platforms suitable for the respective domain is challenging in terms of both computation and communication. Whilst advances in CPU and Field Programmable Gate Array (FPGA) technology enable the implementation of computationally heavier Image Processing Pipelines, the interface between such platforms and an Ethernet-based communication backbone still requires careful design to achieve fast and deterministic Image Acquisition. Although standardized Ethernet-based camera protocols such as GigE Vision unify camera configuration and data transmission, traditional software-based Image Acquisition is insufficient on small, low-power embedded platforms due to tight throughput and latency constraints and the overhead caused by decoding such multi-layered protocols. In this paper, we propose Scatter-Gather Direct Memory Access (SG/DMA) Proxying as a generic method to seamlessly extend the existing network subsystem of current Systemson- Chip (SoCs) with hardware-based filtering capabilities. Based thereon, we present a novel mixed-hardcore/softcore GigE Vision Framegrabber capable of directly feeding a subsequent in-stream Image Processing Pipeline with sub-microsecond acquisition latency. By rerouting all incoming Ethernet frames to our GigE Vision Bridge using SG/DMA Proxying, we are able to separate image and non-image data with zero CPU and memory intervention and perform Image Acquisition at full line rate of Gigabit Ethernet (i.e., 125 Mpx/s for grayscale video). Our experimental evaluation shows the benefits of our proposed architecture on a Programmable SoC (pSoC) that combines a fixed-function multi-core SoC with configurable FPGA fabric.
DOI：
10.1109/etfa.2014.7005074
发表时间：
2014-09
期刊：
Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)
影响因子：
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作者：
Peter Danielis;J. Skodzik;Vlado Altmann;E. Schweissguth;F. Golatowski;D. Timmermann;J. Schacht
通讯作者：
Peter Danielis;J. Skodzik;Vlado Altmann;E. Schweissguth;F. Golatowski;D. Timmermann;J. Schacht