A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots
With the wide application of autonomous mobile robots (AMRs), the visual inertial odometer (VIO) system that realizes the positioning function through the integration of a camera and inertial measurement unit (IMU) has developed rapidly, but it is still limited by the high complexity of the algorith...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/19/7669 |
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| author | Yonghao Tan Mengying Sun Huanshihong Deng Haihan Wu Minghao Zhou Yifei Chen Zhuo Yu Qinghan Zeng Ping Li Lei Chen Fengwei An |
| author_facet | Yonghao Tan Mengying Sun Huanshihong Deng Haihan Wu Minghao Zhou Yifei Chen Zhuo Yu Qinghan Zeng Ping Li Lei Chen Fengwei An |
| author_sort | Yonghao Tan |
| collection | DOAJ |
| description | With the wide application of autonomous mobile robots (AMRs), the visual inertial odometer (VIO) system that realizes the positioning function through the integration of a camera and inertial measurement unit (IMU) has developed rapidly, but it is still limited by the high complexity of the algorithm, the long development cycle of the dedicated accelerator, and the low power supply capacity of AMRs. This work designs a reconfigurable accelerated core that supports different VIO algorithms and has high area and energy efficiency, precision, and speed processing characteristics. Experimental results show that the loss of accuracy of the proposed accelerator is negligible on the most authoritative dataset. The on-chip memory usage of 70 KB is at least 10× smaller than the state-of-the-art works. Thus, the FPGA implementation’s hardware-resource consumption, power dissipation, and synthesis in the 28 nm CMOS outperform the previous works with the same platform. |
| first_indexed | 2024-03-09T21:09:11Z |
| format | Article |
| id | doaj.art-66996df465644fa988a250b981d8c6d0 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T21:09:11Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-66996df465644fa988a250b981d8c6d02023-11-23T21:52:54ZengMDPI AGSensors1424-82202022-10-012219766910.3390/s22197669A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile RobotsYonghao Tan0Mengying Sun1Huanshihong Deng2Haihan Wu3Minghao Zhou4Yifei Chen5Zhuo Yu6Qinghan Zeng7Ping Li8Lei Chen9Fengwei An10School of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaScientific and Technical Center for Innovation, Beijing 100080, ChinaDepartment of Computing and School of Design, The Hong Kong Polytechnic University, Hong Kong, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaSchool of Microelectronics, Southern University of Science and Technology, Shenzhen 518055, ChinaWith the wide application of autonomous mobile robots (AMRs), the visual inertial odometer (VIO) system that realizes the positioning function through the integration of a camera and inertial measurement unit (IMU) has developed rapidly, but it is still limited by the high complexity of the algorithm, the long development cycle of the dedicated accelerator, and the low power supply capacity of AMRs. This work designs a reconfigurable accelerated core that supports different VIO algorithms and has high area and energy efficiency, precision, and speed processing characteristics. Experimental results show that the loss of accuracy of the proposed accelerator is negligible on the most authoritative dataset. The on-chip memory usage of 70 KB is at least 10× smaller than the state-of-the-art works. Thus, the FPGA implementation’s hardware-resource consumption, power dissipation, and synthesis in the 28 nm CMOS outperform the previous works with the same platform.https://www.mdpi.com/1424-8220/22/19/7669SLAMVIOacceleratorreconfigurableAMRs |
| spellingShingle | Yonghao Tan Mengying Sun Huanshihong Deng Haihan Wu Minghao Zhou Yifei Chen Zhuo Yu Qinghan Zeng Ping Li Lei Chen Fengwei An A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots Sensors SLAM VIO accelerator reconfigurable AMRs |
| title | A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots |
| title_full | A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots |
| title_fullStr | A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots |
| title_full_unstemmed | A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots |
| title_short | A Reconfigurable Visual–Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots |
| title_sort | reconfigurable visual inertial odometry accelerated core with high area and energy efficiency for autonomous mobile robots |
| topic | SLAM VIO accelerator reconfigurable AMRs |
| url | https://www.mdpi.com/1424-8220/22/19/7669 |
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