Design of image processing system for humanoid robots based on FPGA

XIE Tianshu; LIU Yuanguang; XU Shangrui; LI Zelin; HUANG Yongjia; ZHANG Hong; LOU Yongle

doi:10.20193/j.ices2097-4191.2025.0094

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Integrated Circuits and Embedded Systems ›› 2026, Vol. 26 ›› Issue (2) : 71-80. DOI: 10.20193/j.ices2097-4191.2025.0094

Special Issue of the 9th China College IC Competition

Design of image processing system for humanoid robots based on FPGA

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Abstract

To address the high latency of ARM architecture and the limited functionality of FPGA solutions, a collaborative architecture-based image processing system combining FPGA and PC is designed. The system integrates functions such as brightness, contrast, and color temperature adjustment, green screen matting, skin tone ROI, traffic light ROI extraction, and invalid region removal. The host computer builds a web interface using the Python Flask framework to implement parameter configuration and result display, and also extends the gesture recognition functionality. Data interaction is achieved through a USB-UART link, and the core module's processing speed remains stable at 560 Mb/s, significantly improving image processing efficiency and meeting real-time requirements. This system provides high-quality image input for humanoid robot vision front-end, adapting to low-light and occlusion scenarios, with broad application value.

Key words

FPGA / hardware-software co-design / image processing / gesture recognition / hardware acceleration

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XIE Tianshu , LIU Yuanguang , XU Shangrui , et al . Design of image processing system for humanoid robots based on FPGA[J]. Integrated Circuits and Embedded Systems. 2026, 26(2): 71-80 https://doi.org/10.20193/j.ices2097-4191.2025.0094

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https://doi.org/10.20193/j.ices2097-4191.2024.0033

Abstract

采用高性能DSP+FPGA架构可满足嵌入式图像处理系统对大数据量、复杂算法的实时处理需求,传统的DSP+FPGA架构使用并行外部存储器接口作为数据传输接口,走线条数较多,布线难度大,故障点多。采用高速串行总线可解决以上问题,本文提出一种基于高速串行总线的DSP+FPGA架构图像处理系统,采用PCIe总线作为DSP与FPGA之间的图像数据传输通道,SRIO总线作为DSP与DSP之间的数据传输通道,SGMII总线作为DSP与PHY芯片的数据传输通道。高速串行总线使得数据传输率更高,布线更容易,减小了电磁干扰,提高了抗干扰能力。本文设计的系统已在实际场所中部署并稳定运行,验证了设计的可行性和系统的可靠性。

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