INCAME: Interruptible CNN Accelerator for Multirobot Exploration

Jincheng Yu,Zhilin Xu,Shulin Zeng,Chao Yu,Jiantao Qiu,Zhaoyang Shen,Yuanfan Xu,Guohao Dai,Yu Wang,Huazhong Yang

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems（2022）

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摘要

Multirobot exploration (MR-Exploration) is a primary task providing the location and map for many multirobot applications. To improve system performance, convolutional neural network (CNN) is introduced by recent researches into critical components in MR-Exploration, such as feature-point extraction (FE) and place recognition (PR). This CNN-based MR-Exploration needs to simultaneously run multiple...

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关键词

Feature extraction,Robots,Iron,Task analysis,Field programmable gate arrays,Hardware,Optimization

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