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Visualization of SLAM Backend Accelerator

DOI:
10.60864/sdm3-wa24
Citation Author(s):
Toivo Henningson, Stefan Adalbjörnsson, Anders Berkeman, Carl Drougge, Xavante Erickson, Alexander Hunt
Submitted by:
xavante erickson
Last updated:
6 June 2024 - 10:54am
Document Type:
Poster
Document Year:
2024
Event:
Presenters:
Xavante Erickson
Paper Code:
8850
 

This research aims to develop energy-efficient hardware accelerators for Simultaneous Location And Mapping (SLAM) back end applications by employing algorithm-hardware co-design. Utilizing the iSAM2 algorithm, which uses graphical modeling to solve iterative Gauss-Newton problems, we continuously update maps by incorporating solutions from previous iterations or timesteps. We address the performance bottleneck arising from memory writes of intermediate results by modifying the original algorithm. Additionally, we analyze the algorithm's parallelizability to meet latency demands. These hardware accelerators are designed as Intellectual Property (IP) blocks, suitable for integration into custom Systems-on-Chip (SoC). We evaluate the design using both holistic and block-level metrics, focusing on latency and energy efficiency. This work has implications for energy-constrained devices like drones and Extended Reality (XR) devices.

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