A unified accelerator design for LiDAR SLAM algorithms for low-end FPGAs

Keisuke Sugiura, Hiroki Matsutani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A fast and reliable LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) system is the growing need for autonomous mobile robots, which are used for a variety of tasks such as indoor cleaning, navigation, and transportation. To bridge the gap between the limited processing power on such robots and the high computational requirement of the SLAM system, in this paper we propose a unified accelerator design for 2D SLAM algorithms on resource-limited FPGA devices. As scan matching is the heart of these algorithms, the proposed FPGA-based accelerator utilizes scan matching cores on the programmable logic part and users can switch the SLAM algorithms to adapt to performance requirements and environments without modifying and re-synthesizing the logic part. We integrate the accelerator into two representative SLAM algorithms, namely particle filter-based and graph-based SLAM. They are evaluated in terms of resource utilization, processing speed, and quality of output results with various real-world datasets, highlighting their algorithmic characteristics. Experiment results on a Pynq-Z2 board demonstrate that scan matching is accelerated by 13.67-14.84x, improving the overall performance of particle filter-based and graph-based SLAM by 4.03-4.67x and 3.09-4.00x respectively, while maintaining the accuracy comparable to their software counterparts and even state-of-the-art methods.

Original languageEnglish
Title of host publication2021 International Conference on Field-Programmable Technology, ICFPT 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665420105
DOIs
Publication statusPublished - 2021
Event20th International Conference on Field-Programmable Technology, ICFPT 2021 - Virtual, Auckland, New Zealand
Duration: 2021 Dec 62021 Dec 10

Publication series

Name2021 International Conference on Field-Programmable Technology, ICFPT 2021

Conference

Conference20th International Conference on Field-Programmable Technology, ICFPT 2021
Country/TerritoryNew Zealand
CityVirtual, Auckland
Period21/12/621/12/10

Keywords

  • FPGA
  • SLAM
  • Scan Matching

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Software

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