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A Survey of FPGA-Based Robotic Computing [article]

Zishen Wan, Bo Yu, Thomas Yuang Li, Jie Tang, Yuhao Zhu, Yu Wang, Arijit Raychowdhury, Shaoshan Liu
2021 arXiv   pre-print
In this paper, we give an overview of previous work on FPGA-based robotic accelerators covering different stages of the robotic system pipeline.  ...  An analysis of software and hardware optimization techniques and main technical issues is presented, along with some commercial and space applications, to serve as a guide for future work.  ...  Several works have attempted to implement real-time dense SLAM algorithms on a heterogeneous system with FPGA embedded.  ... 
arXiv:2009.06034v3 fatcat:fnp5q5wcyrd2hgpllso22mv2xm

A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks [article]

Baichuan Huang, Jun Zhao, Jingbin Liu
2020 arXiv   pre-print
For Lidar or visual SLAM, the survey illustrates the basic type and product of sensors, open source system in sort and history, deep learning embedded, the challenge and future.  ...  The paper makes an overview in SLAM including Lidar SLAM, visual SLAM, and their fusion.  ...  . • Dynamic SLAM: RDSLAM [224] is a novel real-time monocular SLAM system which can robustly work in dynamic environments based on a novel online keyframe representation and updating method.  ... 
arXiv:1909.05214v4 fatcat:itnluvkewfd6fel7x65wdgig3e

FPGA design of EKF block accelerator for 3D visual SLAM

Daniel Törtei Tertei, Jonathan Piat, Michel Devy
2016 Computers & electrical engineering  
real-time throughput with a very low power-per-feature rate.  ...  This paper deals with the evaluation of a dedicated architecture to be integrated in an embedded system mounted typically on a micro-aerial vehicle or on smart devices moved by an operator.  ...  Here only monocular SLAM with undelayed landmark initialization is used, so that our method could be executed on an embedded system limited in size and resources -such as a smartphone.  ... 
doi:10.1016/j.compeleceng.2016.05.003 fatcat:ldirs2zgwzfgfjitq2zmx72h24

An FPGA Based Energy Efficient DS-SLAM Accelerator for Mobile Robots in Dynamic Environment

Yakun Wu, Li Luo, Shujuan Yin, Mengqi Yu, Fei Qiao, Hongzhi Huang, Xuesong Shi, Qi Wei, Xinjun Liu
2021 Applied Sciences  
However, the introduction of deep learning increases the complexity of the system, which makes it a considerable challenge to achieve the real-time semantic SLAM system on the low-power embedded platform  ...  DS-SLAM (Semantic SLAM towards Dynamic Environment), one of the representative works in visual semantic SLAM, enhances the robustness in the dynamic scene through semantic information.  ...  For the LSD-SLAM (Large Scale Direct monocular SLAM) algorithm, Konstantinos Boikos et al. propose a hardware implementation based on an FPGA SoC (System-on-a-Chip) [17] .  ... 
doi:10.3390/app11041828 fatcat:cwly3b7fnrdldmw7xlsqwb4esa


Petr Cížek, Jan Faigl
2015 Acta Polytechnica CTU Proceedings  
The results indicate that even a computationally efficient FAST algorithm can benefit from a parallel (low–cost) FPGA–based implementation that has a competitive processing time but more importantly it  ...  the power consumption of the system.  ...  In addition, they can host a real-time operating system, which makes their programming for time critical applications even simpler.  ... 
doi:10.14311/app.2015.1.0008 fatcat:ttmoq5ciivgm7cgasxr4diuzhu

Towards Computational Awareness in Autonomous Robots: An Empirical Study of Computational Kernels [article]

Ashrarul H. Sifat, Burhanuddin Bharmal, Haibo Zeng, Jia-Bin Huang, Changhee Jung, Ryan K. Williams
2021 arXiv   pre-print
three embedded computing platforms.  ...  In this paper, we consider a necessary first step towards this goal of computational awareness in autonomous robots: an empirical study of a base set of computational kernels from the resource management  ...  (a) Execution time (User Time and System Times) for an activation period of 0.1 sec and corresponding RAM utilization. (b) CPU Utilization and Power measurements.  ... 
arXiv:2112.10303v1 fatcat:zz3rfw5wjnfcvgq7alblj2rpn4

Navigating the Landscape for Real-Time Localization and Mapping for Robotics and Virtual and Augmented Reality

2018 Proceedings of the IEEE  
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge.  ...  This paper describes the results of a major research effort to assemble the algorithms, architectures, tools, and systems software needed to enable delivery of SLAM, by supporting applications specialists  ...  This approach will utilize data from SLAMBench2 and real-world experiments to drive the design of a specialized vision processor.  ... 
doi:10.1109/jproc.2018.2856739 fatcat:a66m7lzvn5bjvlxyw7qkd2qaky

Sensors and Technologies in Spain: State-of-the-Art

Gonzalo Pajares
2014 Sensors  
Different problems cause the appearance and development of new sensor technologies and vice versa, the emergence of new sensors facilitates the solution of existing real problems.  ...  There are still many challenges and problems to be solved or improved, but the references provided in this special issue make an important progress in this regard, facilitating subsequent scientific and  ...  solving the DI-D monocular SLAM.  ... 
doi:10.3390/s140815282 pmid:25195853 pmcid:PMC4179053 fatcat:m3oivwfii5f27fltyxwnh76joi

A Comprehensive Survey of Recent Trends in Cloud Robotics Architectures and Applications

Olimpiya Saha, Prithviraj Dasgupta
2018 Robotics  
Cloud robotics has recently emerged as a collaborative technology between cloud computing and service robotics enabled through progress in wireless networking, large scale storage and communication technologies  ...  In [32] , Riazuelo et al. proposed a method that improves a visual SLAM system by utilizing a robot knowledge base.  ...  The system is validated through an experimental study for a video tracking application where the memory, speed and processors of the system are evaluated.  ... 
doi:10.3390/robotics7030047 fatcat:b6klnr6qrvfkpbloyrobhkeyzy

Augmented Reality for Robotics: A Review

Zhanat Makhataeva, Huseyin Atakan Varol
2020 Robotics  
Augmented reality (AR) is used to enhance the perception of the real world by integrating virtual objects to an image sequence acquired from various camera technologies.  ...  The aim of this paper is to provide an overview of AR research in robotics during the five year period from 2015 to 2019.  ...  For real-time video monitoring, "Raspberry Pi" camera module was embedded into the police robot.  ... 
doi:10.3390/robotics9020021 doaj:a4cff00359374fcf99f0aa2b2771bc3a fatcat:upn3jaifw5barbodr5c2n73ucq

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively.  ...  Acknowledgments The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

FPGA-based module for SURF extraction

Tomáš Krajník, Jan Šváb, Sol Pedre, Petr Čížek, Libor Přeučil
2014 Machine Vision and Applications  
The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor.  ...  We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm.  ...  To test the module in a real world scenario, we have integrated it in a monocular-based mobile robot navigation system.  ... 
doi:10.1007/s00138-014-0599-0 fatcat:dj3ddob3xjeuroamg67olae46q

Strategy for an Autonomous Behavior that Guarantees a Qualitative Fine Adjustment at the Target Pose of a Collaborating Mobile Robot

Kai Waelti
2021 Zenodo  
in dynamic environments over time.  ...  As a basis for this strategy, an extensible software architecture for socially acceptable navigation of mobile robots is designed and implemented using ROS components.  ...  Some ROS parameters can be changed at run time using the built-in dynamic reconfigure tool rqt.  ... 
doi:10.5281/zenodo.4742013 fatcat:637baqamlffkfda5cvvxzegyuy

TOOMAS: Interactive Shopping Guide robots in everyday use - final implementation and experiences from long-term field trials

H.-M. Gross, H. Boehme, Ch. Schroeter, S. Mueller, A. Koenig, E. Einhorn, Ch. Martin, M. Merten, A. Bley
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
It is spanning an arc from the expectations and requirements of store owners and customers, via the challenges of the shopping scenario and the operating environment, the implemented functionality of the  ...  With the successful development of these shopping guide robots, a further important step towards assistive robotics for daily use has been done.  ...  Hardware: SCITOS A5 is controlled by an Embedded PC with an Intel Core 2 Duo processor and a multitude of small hardware units which monitor several functions of the robot [15] .  ... 
doi:10.1109/iros.2009.5354497 dblp:conf/iros/GrossBSMKEMMB09 fatcat:2eciyvitujelfidvonukbzpnd4

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
., and in my capacity as the President of the Association, it is a privilege, a great pleasure and an honor to welcome you to the 2020 International Conference on Unmanned Aircraft Systems (ICUAS'20).  ...  This is the first time we have the honor to host ICUAS in Europe. The conference is organized in Athens, Greece. Athens is a magnificent location for such an international event like the 2020 ICUAS.  ...  The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with eventtriggered mechanism using a dynamic-threshold.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe
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