Live Demonstration: A Reconfigurable, Energy efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications

被引：0

作者：

Jiang, Dingcheng ^{[3
]}

Liu, Bingqiang ^{[2
]}

Wang, Jipeng ^{[2
]}

Hu, Ao ^{[2
]}

Zhao, Yequan ^{[2
]}

Bao, Minjie ^{[4
]}

Fan, Zhendong ^{[4
]}

Shen, Zixuan ^{[2
]}

Wang, Ke ^{[4
]}

Wang, Chao ^{[1
,2
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Future Technol, Wuhan, Peoples R China

[2] Huazhong Univ Sci & Technol, Sch Opt & Elect Informat, Wuhan, Peoples R China

[3] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan, Peoples R China

[4] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China

来源：

2024 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, ISCAS 2024 | 2024年

关键词：

D O I：

10.1109/ISCAS58744.2024.10558139

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This demonstration shows a Extend Kalman Filter-Simultaneous Localization And Mapping (EKF-SLAM) accelerator based System On Chip (SoC) design for Autonomous Mobile Robots (AMR). The AMR platform consists of a multi-sensor system with a wheel encoder and LiDAR, and a ZYNQ-7000 FPGA based SoC featuring an EKF-SLAM hardware accelerator. This AMR system achieves real-time SLAM with significant energy efficient improvement against the state-of-the-art designs.

引用

页数：1

共 2 条

[1] Live Demonstration: A High-frame-rate and Energy-efficient SIFT Feature Extraction Accelerator Based SoC Design for AMR Applications
Duan, Zhenhui
Liu, Bingqiang
Yin, Zehua
Wang, Jipeng
Shen, Zixuan
Zhang, Xupeng
He, Zaisheng
Wang, Chao
2024 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, ISCAS 2024, 2024,
[2] An Energy-Efficient SIFT Based Feature Extraction Accelerator for High Frame-Rate Video Applications
Liu, Bingqiang
Yin, Zehua
Zhang, Xvpeng
Zhan, Yi
Hu, Xiaofeng
Yu, Guoyi
Zheng, Yuanjin
Wang, Chao
Zou, Xuecheng
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2022, 69 (12) : 4930 - 4943

← 1 →