基于4.8倍提速fpga迭代最近点加速器的拾取机器人目标姿态估计

2019 IEEE 27th Annual International Symposium on Field-Programmable Custom Computing Machines (FCCM) Pub Date : 2019-04-01 DOI:10.1109/FCCM.2019.00072

Atsutake Kosuge, Keisuke Yamamoto, Y. Akamine, T. Yamawaki, T. Oshima

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引用次数: 7

摘要

提出了一种基于fpga的迭代最近点(ICP)算法加速器，该算法使拾取机器人的目标姿态估计速度比现有技术快4.8倍。利用亚马逊采摘大赛数据集对所提出的基于fpga的ICP加速器进行实验，结果表明ICP的目标姿态估计时间仅为0.6秒，整个采摘过程耗时2.0秒，功耗为6.0 W。

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A 4.8x Faster FPGA-Based Iterative Closest Point Accelerator for Object Pose Estimation of Picking Robot Applications

An FPGA-based accelerator for the iterative-closest-point (ICP) algorithm has been proposed, which achieves 4.8-times-faster object-pose estimation by a picking robot compared with the state-of-the-art technique. Experiments of the proposed FPGA-based ICP accelerator using Amazon Picking Contest data sets have confirmed that the object-pose estimation by the ICP takes only 0.6 seconds, and the entire picking process takes 2.0 seconds with power consumption of 6.0 W.

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来源期刊

2019 IEEE 27th Annual International Symposium on Field-Programmable Custom Computing Machines (FCCM)

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