一种异构CPU-FPGA同步定位和映射系统

2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA) Pub Date : 2022-10-28 DOI:10.1109/ICTA56932.2022.9963112

Weiyi Zhang, Liting Niu, Chaoyang Ding, Yiyang Wang, F. Farrukh, Chun Zhang

{"title":"一种异构CPU-FPGA同步定位和映射系统","authors":"Weiyi Zhang, Liting Niu, Chaoyang Ding, Yiyang Wang, F. Farrukh, Chun Zhang","doi":"10.1109/ICTA56932.2022.9963112","DOIUrl":null,"url":null,"abstract":"Simultaneous localization and mapping (SLAM) is an emerging robotic technology enabling autonomous robots to self-localize and map the surrounding environments. However, SLAM system is time and resource consuming, making it hard to implement on mobile devices. In this work, ROPY-SLAM, a novel heterogeneous framework for SLAM is proposed to take advantage of various devices such as personal computer and FPGA. The proposed system reduces the execution time by 28.6% and resource utilization by at most 71.2%. Moreover, ROPY-SLAM supports more flexible hardware and software implementations, providing a solution for distributed calculation of robotic applications.","PeriodicalId":325602,"journal":{"name":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"ROPY-SLAM: a Heterogeneous CPU-FPGA System for Simultaneous Localization and Mapping\",\"authors\":\"Weiyi Zhang, Liting Niu, Chaoyang Ding, Yiyang Wang, F. Farrukh, Chun Zhang\",\"doi\":\"10.1109/ICTA56932.2022.9963112\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Simultaneous localization and mapping (SLAM) is an emerging robotic technology enabling autonomous robots to self-localize and map the surrounding environments. However, SLAM system is time and resource consuming, making it hard to implement on mobile devices. In this work, ROPY-SLAM, a novel heterogeneous framework for SLAM is proposed to take advantage of various devices such as personal computer and FPGA. The proposed system reduces the execution time by 28.6% and resource utilization by at most 71.2%. Moreover, ROPY-SLAM supports more flexible hardware and software implementations, providing a solution for distributed calculation of robotic applications.\",\"PeriodicalId\":325602,\"journal\":{\"name\":\"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICTA56932.2022.9963112\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICTA56932.2022.9963112","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

同时定位和绘图(SLAM)是一种新兴的机器人技术，使自主机器人能够自我定位和绘制周围环境。然而，SLAM系统耗时耗力，难以在移动设备上实现。本文提出了一种利用个人计算机和FPGA等多种设备的异构SLAM框架——ROPY-SLAM。该系统最多可减少28.6%的执行时间和71.2%的资源利用率。此外，ROPY-SLAM支持更灵活的硬件和软件实现，为机器人应用的分布式计算提供了解决方案。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

ROPY-SLAM: a Heterogeneous CPU-FPGA System for Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) is an emerging robotic technology enabling autonomous robots to self-localize and map the surrounding environments. However, SLAM system is time and resource consuming, making it hard to implement on mobile devices. In this work, ROPY-SLAM, a novel heterogeneous framework for SLAM is proposed to take advantage of various devices such as personal computer and FPGA. The proposed system reduces the execution time by 28.6% and resource utilization by at most 71.2%. Moreover, ROPY-SLAM supports more flexible hardware and software implementations, providing a solution for distributed calculation of robotic applications.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)

自引率

0.00%

发文量