A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA

Tan，Yonghao1; Deng，Huanshihong1; Sun，Mengying1; Zhou，Minghao1; Chen，Yifei1; Chen，Lei1; Wang，Chao2; An，Fengwei3

2022

10.1109/TCSII.2022.3198759

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS   Impact Factor & Quartile

1549-7747

1558-3791

Much effort overlaps in designing different hardware to implement different Simultaneous localization and mapping (SLAM) algorithms. In this brief, a reconfigurable architecture with dedicated instruction sets allows the coprocessor to satisfy the pose estimation of a sample class of the SLAM algorithms, featurebased or learning-based methods, which can be decomposed to basic common operations. Furthermore, a memory-reused strategy in instructions was designed to avoid the demand for temporary memory for complex operations. Finally, two parallel computing cores are implemented to perform matrix operations and special computation about the pose estimation in floatingpoint and fixed-point arithmetic. These contribute to the low hardware resource usage and memory requirement, as illustrated in the experimental results.

Algebra Coprocessors floating-point numbering FPGA Hardware Matrix decomposition Pose estimation Quaternions reconfigurable Simultaneous localization and mapping SLAM

EI

English

First

20223512671921

Conformal mapping ; Coprocessor ; Fixed point arithmetic ; Matrix algebra ; Reconfigurable architectures ; Reconfigurable hardware ; Robotics

Semiconductor Devices and Integrated Circuits:714.2 ; Logic Elements:721.2 ; Computer Circuits:721.3 ; Computer Systems and Equipment:722 ; Robotics:731.5 ; Algebra:921.1 ; Numerical Methods:921.6

ENGINEERING

2-s2.0-85136869712

Scopus

1.School of Microelectronics, Southern University of Science and Technology, Shenzhen, China
2.Huazhong University of Science and Technology, Wuhan, China
3.School of Microelectronics, Southern University of Science and Technology and Engineering Research Center of Integrated Circuits for Next-Generation Communications, Ministry of Education, Southern University of Science and Technology, China

Tan，Yonghao,Deng，Huanshihong,Sun，Mengying,et al. A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,2022,PP(99):1-1.

Tan，Yonghao.,Deng，Huanshihong.,Sun，Mengying.,Zhou，Minghao.,Chen，Yifei.,...&An，Fengwei.(2022).A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS,PP(99),1-1.

Tan，Yonghao,et al."A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS PP.99(2022):1-1.