Donkey Car featuring the Ultra96 board, a Raspberry Pi, FPGA accelerated stereo vision, MIPI CSI-2 image acquisition, a LiDAR sensor and AI.
In this project, I will document the build of a Donkey Car enhanced with an advanced vision system using FPGA accelerated stereo vision and LiDAR.
The project consists of the following main components:
Raspberry Pi 3 featuring 4 x Cortex-A53 cores – runs the AI that drives the car
Avnet / Xilinx Ultra96 Board – used for video acquisition and processing. The high speed MIPI CSI-2 input of two OV5647 cameras are captured using 2 video pipelines implemented in the programmable logic (FPGA) part of the Xilinx Zynq UltraScale+ MPSoC. The captured images are processed by an OpenCV / xfOpenCV application. Using a hardware accelerated stereo matching algorithm (xfOpenCV StereoBM) is applied on the input images and the depth of the scene is computed in real-time
Donkey Car – an RC car used for PoC
2 x OV5647 5 MegaPixel NoIR Camera
TFMini LiDAR Sensor
Each Friday is PiDay here at Adafruit! Be sure to check out our posts, tutorials and new Raspberry Pi related products. Adafruit has the largest and best selection of Raspberry Pi accessories and all the code & tutorials to get you up and running in no time!
Stop breadboarding and soldering – start making immediately! Adafruit’s Circuit Playground is jam-packed with LEDs, sensors, buttons, alligator clip pads and more. Build projects with Circuit Playground in a few minutes with the drag-and-drop MakeCode programming site, learn computer science using the CS Discoveries class on code.org, jump into CircuitPython to learn Python and hardware together, TinyGO, or even use the Arduino IDE. Circuit Playground Express is the newest and best Circuit Playground board, with support for CircuitPython, MakeCode, and Arduino. It has a powerful processor, 10 NeoPixels, mini speaker, InfraRed receive and transmit, two buttons, a switch, 14 alligator clip pads, and lots of sensors: capacitive touch, IR proximity, temperature, light, motion and sound. A whole wide world of electronics and coding is waiting for you, and it fits in the palm of your hand.