基于管道Taylor展开拟合arctan角的ORB-SLAM系统广义任务硬件加速器设计

IF 1.7 4区计算机科学 Q3 COMPUTER SCIENCE, HARDWARE & ARCHITECTURE

IEEE Embedded Systems Letters Pub Date : 2024-10-03 DOI:10.1109/LES.2024.3472731

Meng Liu;Fei Xiao;Ruijie Wang;Peiyuan Wan;Zhijie Chen;Dejian Li;Chongfei Shen

{"title":"基于管道Taylor展开拟合arctan角的ORB-SLAM系统广义任务硬件加速器设计","authors":"Meng Liu;Fei Xiao;Ruijie Wang;Peiyuan Wan;Zhijie Chen;Dejian Li;Chongfei Shen","doi":"10.1109/LES.2024.3472731","DOIUrl":null,"url":null,"abstract":"In simultaneous localization and mapping (SLAM), the oriented FAST and rotated BRIEF (ORB) algorithm is key for feature detection and description, but its computational demands, particularly in arctangent angle computation, hinder real-time use on embedded systems. To solve this, we introduce PttAcc, a hardware accelerator using pipeline architecture and the Taylor expansion fitting algorithm. Our simulations show PttAcc significantly accelerates arctangent computation while maintaining accuracy, reducing total area by 82.56% and power consumption by 63.49% compared to coordinate rotation digital computer (CORDIC) components. It achieves a performance acceleration ratio of 15.8 and speeds up descriptor tasks by up to 4.3 times.","PeriodicalId":56143,"journal":{"name":"IEEE Embedded Systems Letters","volume":"17 2","pages":"75-78"},"PeriodicalIF":1.7000,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"PttAcc: Pipeline-Based Taylor Expansion Fitting Arctangent Angle Hardware Accelerator Design for Descriptor Duty in ORB-SLAM System\",\"authors\":\"Meng Liu;Fei Xiao;Ruijie Wang;Peiyuan Wan;Zhijie Chen;Dejian Li;Chongfei Shen\",\"doi\":\"10.1109/LES.2024.3472731\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In simultaneous localization and mapping (SLAM), the oriented FAST and rotated BRIEF (ORB) algorithm is key for feature detection and description, but its computational demands, particularly in arctangent angle computation, hinder real-time use on embedded systems. To solve this, we introduce PttAcc, a hardware accelerator using pipeline architecture and the Taylor expansion fitting algorithm. Our simulations show PttAcc significantly accelerates arctangent computation while maintaining accuracy, reducing total area by 82.56% and power consumption by 63.49% compared to coordinate rotation digital computer (CORDIC) components. It achieves a performance acceleration ratio of 15.8 and speeds up descriptor tasks by up to 4.3 times.\",\"PeriodicalId\":56143,\"journal\":{\"name\":\"IEEE Embedded Systems Letters\",\"volume\":\"17 2\",\"pages\":\"75-78\"},\"PeriodicalIF\":1.7000,\"publicationDate\":\"2024-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Embedded Systems Letters\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10704693/\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"COMPUTER SCIENCE, HARDWARE & ARCHITECTURE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Embedded Systems Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10704693/","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMPUTER SCIENCE, HARDWARE & ARCHITECTURE","Score":null,"Total":0}

引用次数: 0

摘要

在同步定位和映射（SLAM）中，定向快速和旋转 BRIEF（ORB）算法是特征检测和描述的关键，但它的计算要求，尤其是外切角计算，阻碍了嵌入式系统的实时使用。为了解决这个问题，我们引入了 PttAcc，这是一种使用流水线架构和泰勒扩展拟合算法的硬件加速器。我们的仿真显示，PttAcc 在保持精度的同时显著加快了反正切计算速度，与坐标旋转数字计算机（CORDIC）组件相比，总面积减少了 82.56%，功耗降低了 63.49%。它实现了 15.8 的性能加速比，并将描述符任务的速度提高了 4.3 倍。

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

PttAcc: Pipeline-Based Taylor Expansion Fitting Arctangent Angle Hardware Accelerator Design for Descriptor Duty in ORB-SLAM System

In simultaneous localization and mapping (SLAM), the oriented FAST and rotated BRIEF (ORB) algorithm is key for feature detection and description, but its computational demands, particularly in arctangent angle computation, hinder real-time use on embedded systems. To solve this, we introduce PttAcc, a hardware accelerator using pipeline architecture and the Taylor expansion fitting algorithm. Our simulations show PttAcc significantly accelerates arctangent computation while maintaining accuracy, reducing total area by 82.56% and power consumption by 63.49% compared to coordinate rotation digital computer (CORDIC) components. It achieves a performance acceleration ratio of 15.8 and speeds up descriptor tasks by up to 4.3 times.

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

IEEE Embedded Systems Letters Engineering-Control and Systems Engineering

CiteScore

3.30

自引率

0.00%

发文量

期刊介绍： The IEEE Embedded Systems Letters (ESL), provides a forum for rapid dissemination of latest technical advances in embedded systems and related areas in embedded software. The emphasis is on models, methods, and tools that ensure secure, correct, efficient and robust design of embedded systems and their applications.