FPGA上の自律機械向け省電力4カメラ視覚システム
An Energy-Efficient Quad-Camera Visual System for Autonomous Machines on FPGA Platform
ORBベースの自己位置推定をFPGAで高速・省電力に実装し、複数カメラの同期と並列化を統合した。Nvidia TX1やIntel i7より大幅な高速化と低消費電力を実現。
著者: Zishen Wan, Yuyang Zhang, Arijit Raychowdhury, Bo Yu, Yanjun Zhang, Shaoshan Liu
分類: cs.AR, cs.CV, cs.RO
原文アブストラクト
In our past few years' of commercial deployment experiences, we identify localization as a critical task in autonomous machine applications, and a great acceleration target. In this paper, based on the observation that the visual frontend is a major performance and energy consumption bottleneck, we present our design and implementation of an energy-efficient hardware architecture for ORB (Oriented-Fast and Rotated- BRIEF) based localization system on FPGAs. To support our multi-sensor autonomous machine localization system, we present hardware synchronization, frame-multiplexing, and parallelization techniques, which are integrated in our design. Compared to Nvidia TX1 and Intel i7, our FPGA-based implementation achieves 5.6x and 3.4x speedup, as well as 3.0x and 34.6x power reduction, respectively.
