Energy-efficient FPGA-accelerated LiDAR-based SLAM for embedded robotics

Marcel Flottmann,Marc Eisoldt,Julian Gaal,Marc Rothmann,Marco Tassemeier,Thomas Wiemann,Mario Porrmann

2021 International Conference on Field-Programmable Technology (ICFPT)（2021）

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摘要

Being one of the fundamental problems in autonomous robotics, SLAM (Simultaneous Localization and Mapping) algorithms have gained a lot of attention. Although numerous approaches have been presented for determining 6D poses in 3D environments, one of the main challenges that remains is the required combination of real-time processing and high energy efficiency. In this paper, a combination of CPU ...

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关键词

Embedded LiDAR-based SLAM,FPGA acceleration,TSDF map,autonomous robotics

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