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Design of an Applic...
Design of an Application-specific VLIW Vector Processor for ORB Feature Extraction
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- Ferreira, Lucas (författare)
- Lund University,Lunds universitet,Integrerade elektroniksystem,Forskargrupper vid Lunds universitet,LTH profilområde: AI och digitalisering,LTH profilområden,Lunds Tekniska Högskola,Integrated Electronic Systems,Lund University Research Groups,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH
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- Malkowsky, Steffen (författare)
- Lund University,Lunds universitet,Integrerade elektroniksystem,Forskargrupper vid Lunds universitet,LTH profilområde: Nanovetenskap och halvledarteknologi,LTH profilområden,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,Integrated Electronic Systems,Lund University Research Groups,LTH Profile Area: Nanoscience and Semiconductor Technology,LTH Profile areas,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,Faculty of Engineering, LTH
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- Persson, Patrik (författare)
- Lund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH
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- Karlsson, Sven (författare)
- Technical University of Denmark
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- Åström, Kalle (författare)
- Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,LTH profilområde: AI och digitalisering,LTH profilområden,Lunds Tekniska Högskola,LTH profilområde: Teknik för hälsa,Lund University Research Groups,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,LTH Profile Area: Engineering Health,Faculty of Engineering, LTH
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- Liu, Liang (författare)
- Lund University,Lunds universitet,Integrerade elektroniksystem,Forskargrupper vid Lunds universitet,LTH profilområde: Nanovetenskap och halvledarteknologi,LTH profilområden,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,Integrated Electronic Systems,Lund University Research Groups,LTH Profile Area: Nanoscience and Semiconductor Technology,LTH Profile areas,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,Faculty of Engineering, LTH
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(creator_code:org_t)
- 2023-01-30
- 2023
- Engelska.
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Ingår i: Journal of Signal Processing Systems. - : Springer Science and Business Media LLC. - 1939-8018 .- 1939-8115. ; 95:7, s. 863-875
- Relaterad länk:
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http://dx.doi.org/10... (free)
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https://lup.lub.lu.s...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In computer-vision feature extraction algorithms, compressing the image into a sparse set of trackable keypoints, empowers navigation-critical systems such as Simultaneous Localization And Mapping (SLAM) in autonomous robots, and also other applications such as augmented reality and 3D reconstruction. Most of those applications are performed in battery-powered gadgets featuring in common a very stringent power-budget. Near-to-sensor computing of feature extraction algorithms allows for several design optimizations. First, the overall on-chip memory requirements can be lessened, and second, the internal data movement can be minimized. This work explores the usage of an Application Specific Instruction Set Processor (ASIP) dedicated to perform feature extraction in a real-time and energy-efficient manner. The ASIP features a Very Long Instruction Word (VLIW) architecture comprising one RV32I RISC-V and three vector slots. The on-chip memory sub-system implements parallel multi-bank memories with near-memory data shuffling to enable single-cycle multi-pattern vector access. Oriented FAST and Rotated BRIEF (ORB) are thoroughly explored to validate the proposed architecture, achieving a throughput of 140 Frames-Per-Second (FPS) for VGA images for one scale, while reducing the number of memory accesses by 2 orders of magnitude as compared to other embedded general-purpose architectures.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
Nyckelord
- ASIP
- Feature extraction
- ORB
- Vision-based SLAM
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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