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Hardware Acceleration for SLAM in Mobile Systems

文献类型：期刊论文

作者Fan, Zhe1,2,3; Hao, Yi-Fan1,3; Zhi, Tian1,3; Guo, Qi3; Du, Zi-Dong1,3
刊名JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
出版日期2023-12-01
卷号38期号:6页码:1300-1322
关键词hardware accelerator instruction set mobile system simultaneous localization and mapping (SLAM) algorithm
ISSN号1000-9000
DOI10.1007/s11390-021-1523-5
英文摘要The emerging mobile robot industry has spurred a flurry of interest in solving the simultaneous localization and mapping (SLAM) problem. However, existing SLAM platforms have difficulty in meeting the real-time and low-power requirements imposed by mobile systems. Though specialized hardware is promising with regard to achieving high performance and lowering the power, designing an efficient accelerator for SLAM is severely hindered by a wide variety of SLAM algorithms. Based on our detailed analysis of representative SLAM algorithms, we observe that SLAM algorithms advance two challenges for designing efficient hardware accelerators: the large number of computational primitives and irregular control flows. To address these two challenges, we propose a hardware accelerator that features composable computation units classified as the matrix, vector, scalar, and control units. In addition, we design a hierarchical instruction set for coping with a broad range of SLAM algorithms with irregular control flows. Experimental results show that, compared against an Intel x86 processor, on average, our accelerator with the area of 7.41 mm2 achieves 10.52x and 112.62x better performance and energy savings, respectively, across different datasets. Compared against a more energy-efficient ARM Cortex processor, our accelerator still achieves 33.03x and 62.64x better performance and energy savings, respectively.
资助项目National Natural Science Foundation of China[61925208] ; National Natural Science Foundation of China[61906179] ; National Natural Science Foundation of China[U19B2019] ; National Natural Science Foundation of China[U20A20227] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDB32050200] ; Beijing Academy of Artificial Intelligence (BAAI), Chinese Academy of Sciences (CAS) Project for Young Scientists in Basic Research[YSBR-029] ; Youth Innovation Promotion Association CAS
WOS研究方向Computer Science
语种英语
WOS记录号WOS:001154653300003
出版者SPRINGER SINGAPORE PTE LTD
源URL[http://119.78.100.204/handle/2XEOYT63/38379]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Du, Zi-Dong
作者单位1.Cambricon Technol, Beijing 100191, Peoples R China
2.Univ Chinese Acad Sci, Sch Comp Sci & Technol, Beijing 100049, Peoples R China
3.Chinese Acad Sci, State Key Lab Proc, Inst Comp Technol, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Fan, Zhe,Hao, Yi-Fan,Zhi, Tian,et al. Hardware Acceleration for SLAM in Mobile Systems[J]. JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,2023,38(6):1300-1322.
APA Fan, Zhe,Hao, Yi-Fan,Zhi, Tian,Guo, Qi,&Du, Zi-Dong.(2023).Hardware Acceleration for SLAM in Mobile Systems.JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY,38(6),1300-1322.
MLA Fan, Zhe,et al."Hardware Acceleration for SLAM in Mobile Systems".JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY 38.6(2023):1300-1322.

入库方式： OAI收割

来源：计算技术研究所

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