| Summary: | Autonomous vehicles require efficient self-localisation mechanisms and cameras are the most common sensors due to their low cost and rich input. However, the computational intensity of visual localisation varies depending on the environment and requires real-time processing and energy-efficient decision-making. FPGAs provide a solution for prototyping and estimating such energy savings. We propose a distributed solution for implementing a large bio-inspired visual localisation model. The workflow includes (1) an image processing IP that provides pixel information for each visual landmark detected in each captured image, (2) an implementation of N-LOC, a bio-inspired neural architecture, on an FPGA board and (3) a distributed version of N-LOC with evaluation on a single FPGA and a design for use on a multi-FPGA platform. Comparisons with a pure software solution demonstrate that our hardware-based IP implementation yields up to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>9</mn><mo>×</mo></mrow></semantics></math></inline-formula> lower latency and <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>7</mn><mo>×</mo></mrow></semantics></math></inline-formula> higher throughput (frames/second) while maintaining energy efficiency. Our system has a power footprint as low as 2.741 W for the whole system, which is up to 5.5–6× less than what Nvidia Jetson TX2 consumes on average. Our proposed solution offers a promising approach for implementing energy-efficient visual localisation models on FPGA platforms.
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