Hardware Acceleration for SLAM in Mobile Systems

doi:10.1007/s11390-021-1523-5

	Hardware Acceleration for SLAM in Mobile Systems
	Fan, Zhe 1,2,3; Hao, Yi-Fan 1,3; Zhi, Tian 1,3; Guo, Qi 1; Du, Zi-Dong 1,3
	2023-12-01
发表期刊	JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY
ISSN	1000-9000
卷号	38 期号:6 页码:1300-1322
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.
关键词	hardware accelerator instruction set mobile system simultaneous localization and mapping (SLAM) algorithm
DOI	10.1007/s11390-021-1523-5
收录类别	SCI
语种	英语
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
WOS类目	Computer Science, Hardware & Architecture ; Computer Science, Software Engineering
WOS记录号	WOS:001154653300003
出版者	SPRINGER SINGAPORE PTE LTD
引用统计
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/38380
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.Chinese Acad Sci, State Key Lab Proc, Inst Comp Technol, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Comp Sci & Technol, Beijing 100049, Peoples R China 3.Cambricon Technol, Beijing 100191, 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.