research-article

Reconfigurable System-on-Chip Architectures for Robust Visual SLAM on Humanoid Robots

Authors:

Maria Rafaela Gkeka,

Alexandros Patras,

Nikolaos Tavoularis,

Stylianos Piperakis,

Emmanouil Hourdakis,

Panos Trahanias,

Christos D. Antonopoulos,

Nikolaos BellasAuthors Info & Claims

ACM Transactions on Embedded Computing Systems, Volume 22, Issue 2

Article No.: 24, Pages 1 - 29

https://doi.org/10.1145/3570210

Published: 09 February 2023 Publication History

Abstract

Visual Simultaneous Localization and Mapping (vSLAM) is the method of employing an optical sensor to map the robot’s observable surroundings while also identifying the robot’s pose in relation to that map. The accuracy and speed of vSLAM calculations can have a very significant impact on the performance and effectiveness of subsequent tasks that need to be executed by the robot, making it a key building component for current robotic designs. The application of vSLAM in the area of humanoid robotics is particularly difficult due to the robot’s unsteady locomotion. This paper introduces a pose graph optimization module based on RGB (ORB) features, as an extension of the KinectFusion pipeline (a well-known vSLAM algorithm), to assist in recovering the robot’s stance during unstable gait patterns when the KinectFusion tracking system fails. We develop and test a wide range of embedded MPSoC FPGA designs, and we investigate numerous architectural improvements, both precise and approximation, to study their impact on performance and accuracy. Extensive design space exploration reveals that properly designed approximations, which exploit domain knowledge and efficient management of CPU and FPGA fabric resources, enable real-time vSLAM at more than 30 fps in humanoid robots with high energy-efficiency and without compromising robot tracking and map construction. This is the first FPGA design to achieve robust, real-time dense SLAM operation targeting specifically humanoid robots. An open source release of our implementations and data can be found in [1].

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Cited By

Cai XXu JDeng KLan HWu YZhuge XYang Z(2024)TrinitySLAM: On-board Real-time Event-image Fusion SLAM System for DronesACM Transactions on Sensor Networks10.1145/369642020:6(1-22)Online publication date: 20-Sep-2024
https://dl.acm.org/doi/10.1145/3696420
Hammia SHatim AHaijoub A(2024)Enhancing Real-time Simultaneous Localization and Mapping with FPGA-based EKF-SLAM's Hardware ArchitectureProcedia Computer Science10.1016/j.procs.2024.05.061236(517-526)Online publication date: 2024
https://doi.org/10.1016/j.procs.2024.05.061
Wang TZhao P(2023)Research on Visual SLAM Navigation Techniques for Dynamic EnvironmentsInternational Journal of Distributed Sensor Networks10.1155/2023/20258442023(1-10)Online publication date: 1-Sep-2023
https://doi.org/10.1155/2023/2025844
Show More Cited By

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Reconfigurable System-on-Chip Architectures for Robust Visual SLAM on Humanoid Robots

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cover image ACM Transactions on Embedded Computing Systems

ACM Transactions on Embedded Computing Systems Volume 22, Issue 2

March 2023

560 pages

ISSN:1539-9087

EISSN:1558-3465

DOI:10.1145/3572826

Editor:
Tulika Mitra
National University of Singapore, Singapore

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Publication History

Published: 09 February 2023

Online AM: 09 November 2022

Accepted: 04 September 2022

Revised: 06 August 2022

Received: 17 February 2022

Published in TECS Volume 22, Issue 2

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Cited By

Cai XXu JDeng KLan HWu YZhuge XYang Z(2024)TrinitySLAM: On-board Real-time Event-image Fusion SLAM System for DronesACM Transactions on Sensor Networks10.1145/369642020:6(1-22)Online publication date: 20-Sep-2024
https://dl.acm.org/doi/10.1145/3696420
Hammia SHatim AHaijoub A(2024)Enhancing Real-time Simultaneous Localization and Mapping with FPGA-based EKF-SLAM's Hardware ArchitectureProcedia Computer Science10.1016/j.procs.2024.05.061236(517-526)Online publication date: 2024
https://doi.org/10.1016/j.procs.2024.05.061
Wang TZhao P(2023)Research on Visual SLAM Navigation Techniques for Dynamic EnvironmentsInternational Journal of Distributed Sensor Networks10.1155/2023/20258442023(1-10)Online publication date: 1-Sep-2023
https://doi.org/10.1155/2023/2025844
Wang CQiu Y(2023)Electronic Sensor Multi-Modal Slam Algorithm Based on Information Fusion Technology2023 International Conference on Ambient Intelligence, Knowledge Informatics and Industrial Electronics (AIKIIE)10.1109/AIKIIE60097.2023.10390439(1-6)Online publication date: 2-Nov-2023
https://doi.org/10.1109/AIKIIE60097.2023.10390439
Ye RIordanou KRiley GLuján M(2023)Exploring Sparse Visual Odometry Acceleration With High-Level SynthesisIEEE Access10.1109/ACCESS.2023.326899211(70741-70763)Online publication date: 2023
https://doi.org/10.1109/ACCESS.2023.3268992

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