Design and Implementation of a ROS Software-hardware Co-processing Compute Architecture Based on Zynq

Aiming to solve the robot complex algorithm running time is too long in the embedded system, a node method designed by software-hardware co-processing in the Zynq for robot operating system (ROS), Complex image algorithm of ROS in FPGA accelerated and ARM handle software interface between the ROS and other normal communication node.Then the stereo matching algorithm census is tested in the system.Experimental results show that in dealing with complex image algorithm relative to the pure software implementation has obvious advantages.