a high-performance and energy-efficient …a high-performance and energy-efficient accelerator with...
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A High-Performance and Energy-Efficient Accelerator with
the RISC-V Core for Optimization in Visual SLAM System
Speaker : 刘檬 Dr. Meng Liu
Inventors: 李任伟,吴军宁,刘檬,周沈刚,陈祖玎
Organization : Institute of Automation, Chinese Academy of Sciences
Beijing Haawking Technology Co., Ltd
单位:中科院自动化所; 北京中科昊芯科技有限公司
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SLAM
Simultaneous Localization and Mapping
Estimate the pose of a robot and the map ofthe environment at the same time ,thismeans:
• Map the location, creating a 3D virtualmap
• Locate itself inside the map
• In sum, it is a hot topic.
Visual SLAM (vSLAM)
• Computer Vision
• Sensor is camera
• One of the most challenging open problems
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Key Applications of Visual SLAM
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Trends• Sensors, algorithms and processors
together
• ASIC
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Aim of our work
• ORB-SLAM(open-source, high-ranking)
• ASIC way, providing comparable performance and accuracy (CPU;FPGA)
• Of course, we should save power cost (within 200mW)
• Currently tracking task
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Framework (SoC)
• RISC-V Core(custom design)
• HcveAcc (co-processor)
• Task pipelined
• Maximize the use of bandwidth resources
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Details of Architecture
• FAST feature detection
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Details of Architecture
• Pixel Cache Design
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KG Architecture
• KG (Key-point Generation) module design
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DG Architecture
• DG (Descriptor Generation) module design
The rBRIEF algorithm CORDIC calculation
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Experimental Results
Power consumption much saved Area saved up to 66.8%
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Experimental Results
KG, DG, and RISC-V core Top-k ranking problem The pipelined working mode gives the best results. Total runtime results of case1, case2 and case3 are
5ms, 3.7ms and 2.3 ms respectively.
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Experimental Results
NMS mode can help control the feature size One-degree discretization 3X of 12 degrees discretization
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Experimental Results
• ORB-SLAM accuracy
• The EuRoC and TUM dataset
• Absolute translation root-mean-square
error (RMSE) metric
• The ground truth trajectory and the
estimated trajectory
• Results of RMSE are acceptable and the max error can be controlled within 1m
(4.9% worst)