Weighted Node Mapping and Localisation on a Pixel Processor Array
Weighted Node Mapping and Localisation on a Pixel Processor Array
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DOI：
10.1109/icra48506.2021.9561524
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发表时间：
2021-05
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影响因子：
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通讯作者：
Hector Castillo-Elizalde;Yanan Liu;Laurie Bose;W. Mayol-Cuevas
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作者：
Hector Castillo-Elizalde;Yanan Liu;Laurie Bose;W. Mayol-Cuevas
本文在像素处理器阵列（PPA）上实现并演示了可视路由映射和定位。PPA传感器由一系列处理元件（pe）组成，每个处理元件都可以直接捕获和处理视觉信息。这提供了重要的并行处理能力，允许以新颖的方式处理传感器上的信息。我们的方法通过测量图像相似性、空间相干性和利用PPA的并行性来预测从图像序列生成的拓扑地图中的正确节点。我们的实现在+2K位置的大型公共数据集上以+300Hz运行，在500 GOPS/W下需要2.5W。我们与传统实现的方法进行了比较，即使在模拟中也显示出更好的F-1性能。据我们所知，我们展示了第一个完全运行在传感器上的传感器映射和定位系统。
This paper implements and demonstrates visual route mapping and localisation upon a Pixel Processor Array (PPA). The PPA sensor comprises of an array of Processing Elements (PEs), each of which can capture and process visual information directly. This provides significant parallel processing power allowing novel ways in which information can be processed on-sensor. Our method predicts the correct node within a topological map generated from an image sequence by measuring image similarities, spatial coherence, and exploiting the parallel nature of the PPA. Our implementation runs at +300Hz on large public datasets with +2K locations requiring 2.5W at 500 GOPS/W. We compare vs traditionally implemented methods demonstrating better F-1 performance even on simulation. As far as we are aware, we present the first on-sensor mapping and localisation system running entirely on-sensor.