smart car solutions - e-hike.nete-hike.net/sites/default/files/1_iguo_tech_.pdf · algorithms start...
TRANSCRIPT
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Smart Car Solutions
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What are we talking about?
• Monocular SLAM
• Accelerating with FPGA (Embedded Vision)
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What is monocular SLAM?
Mobile robot - independent machine with sensors that moves through an environment
Mapping - creating and storing a model of its environment
Localisation - where the robot is in its environment
SLAM = Simultaneous Localisation and Mapping
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Why monocular SLAM?
Cost
Size
Mobile devices
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Algorithms Start by processing each image to find ”features” - usually corners
Based on a probabilistic feature-based map
To compute them, the algorithm uses the Extended Kalman Filter, a recursive process which uses the last estimated map and the current measurement to compute the current state
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MOVIE
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Embedded Vision with FPGA
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What is FPGA ? Integrated circuit (IC) that can be programmed in the field after manufacture.
Creating and storing a model of its environment
With FPGAs you have control over the hardware.
FPGA = Field Programmable Gate Array
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Parallel Programming
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FPGA-CPU
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CPU-GPU-FPGA
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QUESTIONS–YAKUP GÖRÜR