Semi-dense SLAM on an FPGA SoC
File(s)
Accepted version
Author(s)
Boikos, K
Bouganis, C-S
Type
Conference Paper
Abstract
Deploying advanced Simultaneous Localisation and Mapping, or SLAM, algorithms in autonomous low-power robotics will enable emerging new applications which require an accurate and information rich reconstruction of the environment. This has not been achieved so far because accuracy and dense 3D reconstruction come with a high computational complexity. This paper discusses custom hardware design on a novel platform for embedded SLAM, an FPGA-SoC, combining an embedded CPU and programmable logic on the same chip. The use of programmable logic, tightly integrated with an efficient multicore embedded CPU stands to provide an effective solution to this problem. In this work an average framerate of more than 4 frames/second for a resolution of 320×240 has been achieved with an estimated power of less than 1 Watt for the custom hardware. In comparison to the software-only version, running on a dual-core ARM processor, an acceleration of 2× has been achieved for LSD-SLAM, without any compromise in the quality of the result.
Date Issued
2016-09-29
Date Acceptance
2016-08-29
Citation
Field Programmable Logic and Applications (FPL), 2016 26th International Conference on, 2016
ISSN
1946-1488
Publisher
IEEE
Journal / Book Title
Field Programmable Logic and Applications (FPL), 2016 26th International Conference on
Copyright Statement
2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000386610400067&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
26th International Conference on Field-Programmable Logic and Applications (FPL)
Subjects
Science & Technology
Technology
Computer Science, Software Engineering
Engineering, Electrical & Electronic
Computer Science
Engineering
Publication Status
Published
Start Date
2016-08-29
Finish Date
2016-09-02
Coverage Spatial
Lausanne, Switzerland