FPGA design of EKF block accelerator for 3D visual SLAM

@article{Tertei2016FPGADO,
  title={FPGA design of EKF block accelerator for 3D visual SLAM},
  author={Daniel Tortei Tertei and Jonathan Piat and Michel Devy},
  journal={Computers & Electrical Engineering},
  year={2016},
  volume={55},
  pages={123-137}
}
FPGA implementation of computing EKF gain and cross-covariance matrices is proposed.Exploiting cross-covariance matrix symmetry reduces computational and resource costs.EKF innovation matrix dimension allows for simple SA computational designs.Our innovation supports observations of 60 AHP landmarks in real time on Zynq-7020.Proposed hardware accelerator for EKF VO functionality is platform independent. Display Omitted This paper deals with the evaluation of a dedicated architecture to be… CONTINUE READING

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