Fig. 1. Development tend of real-time perception lidar

Fig. 2. Structure diagram of detection unit of real-time perception lidar

Fig. 3. Block diagram of FPGA control system

Fig. 4. Topological graph of hardware system

Fig. 5. Working principle of ping pong ARM

Fig. 6. Schematic diagram of EMIFA interface structure inside DSP

Fig. 7. Block diagram of point cloud solution

Fig. 8. EMIFA test timing diagram of FPGA board card

Fig. 9. Real time point cloud image of lidar system