Hardware Acceleration of Real-Time LiDAR Packet Decoding and Reconstruction via Parallelism

초록

Light detection and ranging (LiDAR) sensors deliver precise depth information and maintain satisfactory performance even under adverse weather conditions, making them essential for perception in three-dimensional space. LiDAR sensors generate millions of points per second; however, achieving real-time processing requires fast and seamless preparation of point-cloud data formatted for deep learning models. In this paper, we introduce a fast, yet efficient hardware design that decodes LiDAR data packets and reconstructs point cloud into the IEEE 754 half-precision floating-point (FP16) format utilizing inherent parallelism in packet decoding. In terms of processing time for a single LiDAR packet, our Ultra96-V1 FPGA-based implementation outperforms the state-of-the-art software-based approach by 1.42×, on average, and generates floating-point data faster by 3.68 × with better power efficiency by 20.4% than the state-of-the-art FPGA-based solution while maintaining the range difference within an acceptable range. © 2009-2012 IEEE.

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