High level synthesis for sequential nested loops: Fully hardwired SLAM local bundle adjustment
DescriptionThis paper describes a fully hardwired circuits of local bundle adjustment (Local BA) for Visual SLAM (Simultaneous Localization and Mapping) using High Level Synthesis (HLS). Local BA has multiple loops that are sequentially concatenated, with data feedback such that the last loop output is the input of the first loop. We propose a general method to synthesize such a description in HLS in three steps. Then, we show the result that proposed method achieves 44% latency reduction. As a result, the full hardwired circuits of local BA running on an FPGA (Zynq UltraScale+ MPSoC, XCZU9EG, 214MHz) achieves 30times faster speed than software local BA on CPU (ARM Cortex A72, 1.5GHz).
Event Type
Front-End Design
TimeTuesday, July 11th4:45pm - 5:00pm PDT
Location2010, 2nd Floor
Front-End Design