A Reconfigurable Visual-Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots

Tan, Yonghao1; Sun, Mengying1; Deng, Huanshihong1; Wu, Haihan1; Zhou, Minghao1; Chen, Yifei1; Yu, Zhuo1; Zeng, Qinghan2; Li, Ping3; Chen, Lei1; An, Fengwei1

2022-10-01

10.3390/s22197669

SENSORS   Impact Factor & Quartile

1424-8220

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 10x 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.

SLAM VIO accelerator reconfigurable AMRs

SCI

English

First ; Corresponding

Science, Technology, and Innovation Commission of Shenzhen Municipality["JSGG20200102162401765","K2021390006","K2021390007"] ; Special field pre-research foundation[30121603] ; Guangdong College Students' Scientific and Technological Innovation[pdjh2022b0456] ; College Students' Innovative Entrepreneurial Training Plan Program[2022S20]

Chemistry ; Engineering ; Instruments & Instrumentation

Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation

WOS:000867169500001

MDPI

CHEMISTRY

Web of Science

1.Southern Univ Sci & Technol, Sch Microelect, Shenzhen 518055, Peoples R China
2.Sci & Tech Ctr Innovat, Beijing 100080, Peoples R China
3.Hong Kong Polytech Univ, Dept Comp & Sch Design, Hong Kong, Peoples R China

Tan, Yonghao,Sun, Mengying,Deng, Huanshihong,et al. A Reconfigurable Visual-Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots[J]. SENSORS,2022,22(19).

Tan, Yonghao.,Sun, Mengying.,Deng, Huanshihong.,Wu, Haihan.,Zhou, Minghao.,...&An, Fengwei.(2022).A Reconfigurable Visual-Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots.SENSORS,22(19).

Tan, Yonghao,et al."A Reconfigurable Visual-Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots".SENSORS 22.19(2022).