Corpus ID: 232257936

Particle Filter-based vs. Graph-based: SLAM Acceleration on Low-end FPGAs

  title={Particle Filter-based vs. Graph-based: SLAM Acceleration on Low-end FPGAs},
  author={K. Sugiura and Hiroki Matsutani},
SLAMallowsa robot to continuouslyperceive the surroundingenvironment and locate itself correctly. However, its high computational complexity limits the practical use of SLAM in resource-constrained computing platforms. We propose a resource-efficient FPGA-based accelerator and apply it to two major SLAM methods: particle filter-based and graphbased SLAM.We compare their performances in terms of the latency, throughput gain, and memory consumption, considering their algorithmic characteristics… Expand

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