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
[J]. 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
[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2022, 69 (12) : 4930 - 4943

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