Reconfigurable multi-access pattern vector memory for real-time orb feature extraction

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Sammanfattning

This work presents an on-chip memory subsystem envisioned for real-time applications performing Oriented FAST and Rotated Brief (ORB) feature extraction for Simultaneous Localization and Mapping (SLAM) systems. For autonomous navigation of battery-powered devices, feature-based SLAM is a computationally frugal alternative to direct methods. This paper thoroughly analyses ORB multiple memory access patterns, exploring possible systematic parallelism and hardware-biased algorithmic enhancements, alleviating requirements on bandwidth and reducing redundant accesses. Enabling those, a suitable multi-bank parallel memory featuring run-time reconfigurable address generation, image allotment, and close-to-memory data-shuffling is proposed. As case study, a 30 Frames-Per-Second (FPS) VGA-resolution ORB-capable 8-bank memory is evaluated using 22 FDX technology, running at 909 MHz, with a negligible area overhead of 0.3%, reducing operand accesses between 54 − 160× relative to Sudoku-like and scalar memories.

Originalspråkengelska
Titel på värdpublikation2021 IEEE International Symposium on Circuits and Systems, ISCAS 2021 - Proceedings
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (elektroniskt)9781728192017
DOI
StatusPublished - 2021
Evenemang53rd IEEE International Symposium on Circuits and Systems, ISCAS 2021 - Daegu, Sydkorea, Republiken Korea
Varaktighet: 2021 maj 222021 maj 28

Publikationsserier

NamnProceedings - IEEE International Symposium on Circuits and Systems
Volym2021-May
ISSN (tryckt)0271-4310

Konferens

Konferens53rd IEEE International Symposium on Circuits and Systems, ISCAS 2021
Land/TerritoriumSydkorea, Republiken Korea
OrtDaegu
Period2021/05/222021/05/28

Ämnesklassifikation (UKÄ)

  • Datorsystem

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