ORB-based SLAM accelerator on SoC FPGA

2022/07/18 by Vemulapati, Vibhakar, Chen, Deming
#FOS: Electrical engineering #Image and Video Processing (eess.IV) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2207.08405

Abstract

Simultaneous Localization and Mapping (SLAM) is one of the main components of autonomous navigation systems. With the increase in popularity of drones, autonomous navigation on low-power systems is seeing widespread application. Most SLAM algorithms are computationally intensive and struggle to run in real-time on embedded devices with reasonable accuracy. ORB-SLAM is an open-sourced feature-based SLAM that achieves high accuracy with reduced computational complexity. We propose an SoC based ORB-SLAM system that accelerates the computationally intensive visual feature extraction and matching on hardware. Our FPGA system based on a Zynq-family SoC runs 8.5x, 1.55x and 1.35x faster compared to an ARM CPU, Intel Desktop CPU, and a state-of-the-art FPGA system respectively, while averaging a 2x improvement in accuracy compared to prior work on FPGA.

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