TY - GEN
T1 - High-level synthesis for FPGA design based-SLAM application
AU - Abouzahir, Mohamed
AU - Elouardi, Abdelhafid
AU - Bouaziz, Samir
AU - Hammami, Omar
AU - Ali, Ismail
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/2
Y1 - 2016/7/2
N2 - The development of SLAM algorithms in the era of autonomous navigation and the growing demand for autonomous robot in place of human being, has put into question how to reduce the computational complexity and make use of these algorithms to operate in real time. Our work aims to take advantage of the high level synthesis (HLS) on FPGAs to design a real time SLAM application. Precisely, we evaluate the promess-held by the new modern low power FPGAs in accelerating SLAM algorithms. Throughtout this, we will attempt to implement a well-known algorithms (FastSLAM2.0), on a new modern FPGA using OpenCL, a standard high level language. Our implementation results show a significant improvement of the algorithm processing time on an FPGA device over a modern powerful embedded GPGPU.
AB - The development of SLAM algorithms in the era of autonomous navigation and the growing demand for autonomous robot in place of human being, has put into question how to reduce the computational complexity and make use of these algorithms to operate in real time. Our work aims to take advantage of the high level synthesis (HLS) on FPGAs to design a real time SLAM application. Precisely, we evaluate the promess-held by the new modern low power FPGAs in accelerating SLAM algorithms. Throughtout this, we will attempt to implement a well-known algorithms (FastSLAM2.0), on a new modern FPGA using OpenCL, a standard high level language. Our implementation results show a significant improvement of the algorithm processing time on an FPGA device over a modern powerful embedded GPGPU.
KW - Embedded Architectures
KW - FPGA
KW - High Level Synthesis
KW - OpenCL
KW - SLAM
UR - https://www.scopus.com/pages/publications/85022033447
U2 - 10.1109/AICCSA.2016.7945638
DO - 10.1109/AICCSA.2016.7945638
M3 - Conference contribution
AN - SCOPUS:85022033447
T3 - Proceedings of IEEE/ACS International Conference on Computer Systems and Applications, AICCSA
BT - 2016 IEEE/ACS 13th International Conference of Computer Systems and Applications, AICCSA 2016 - Proceedings
PB - IEEE Computer Society
T2 - 13th IEEE/ACS International Conference of Computer Systems and Applications, AICCSA 2016
Y2 - 29 November 2016 through 2 December 2016
ER -