Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization
文献类型：期刊论文
| 作者 | Liu, Qiang2; Hua, Yihao1,2; Hao, Yuhui3; Yu, Bo4; Liu, Shaoshan4; Gan, Yiming1,3 |
| 刊名 | ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION
 |
| 出版日期 | 2025-12-01 |
| 卷号 | 22期号:4页码:23 |
| 关键词 | Robotic computing factor graph optimization FPGA |
| ISSN号 | 1544-3566 |
| DOI | 10.1145/3771846 |
| 英文摘要 | Despite extensive efforts, existing approaches to design accelerators for optimization-based robotic applications have limitations related to insufficient real-time performance and high energy consumption. Some methods focus on designing general-purpose matrix computation units, but fail to consider specific characteristics of robotic algorithms. Other methods aim at designing dedicated accelerators that achieve excellent performance but suffer from limited flexibility. To balance between general-purpose and specialized designs, this article proposes a hardware accelerator that, through a unified pose representation and factor graph abstraction, can solve nonlinear optimization algorithms for localization, planning, and control on the same piece of circuits. Through carefully designed pipeline, circuit structure optimization, fixed-point arithmetic, and sparse data compression, the accelerator design achieves high performance and high energy efficiency. The experimental results on FPGA demonstrate that compared to state-of-the-art acceleration solutions, our design achieves up to 107.9x speedup, 7.2x energy reduction, while achieving similar accuracy. |
| 资助项目 | National Natural Science Foundation of China[U21B2031] ; Longgang District Shenzhen's Ten Action Plan[LGKCSDPT2024003] ; Longgang District Shenzhen's Ten Action Plan[LGKCSDPT2024004] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:001667494000009 |
| 出版者 | ASSOC COMPUTING MACHINERY |
| 源URL | [http://119.78.100.204/handle/2XEOYT63/42891]  |
| 专题 | 中国科学院计算技术研究所 |
| 通讯作者 | Gan, Yiming |
| 作者单位 | 1.Univ Chinese Acad Sci, Beijing, Peoples R China 2.Tianjin Univ, Sch Microelect, Tianjin, Peoples R China 3.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China 4.Shenzhen Inst Artificial Intelligence & Robot Soc, Shenzhen, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Qiang,Hua, Yihao,Hao, Yuhui,et al. Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization[J]. ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION,2025,22(4):23. |
| APA | Liu, Qiang,Hua, Yihao,Hao, Yuhui,Yu, Bo,Liu, Shaoshan,&Gan, Yiming.(2025).Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization.ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION,22(4),23. |
| MLA | Liu, Qiang,et al."Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization".ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION 22.4(2025):23. |
入库方式： OAI收割
来源：计算技术研究所
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