OMU: A Probabilistic 3D Occupancy Mapping Accelerator for Real-time OctoMap at the Edge

05/06/2022
by   Tianyu Jia, et al.
0

Autonomous machines (e.g., vehicles, mobile robots, drones) require sophisticated 3D mapping to perceive the dynamic environment. However, maintaining a real-time 3D map is expensive both in terms of compute and memory requirements, especially for resource-constrained edge machines. Probabilistic OctoMap is a reliable and memory-efficient 3D dense map model to represent the full environment, with dynamic voxel node pruning and expansion capacity. This paper presents the first efficient accelerator solution, i.e. OMU, to enable real-time probabilistic 3D mapping at the edge. To improve the performance, the input map voxels are updated via parallel PE units for data parallelism. Within each PE, the voxels are stored using a specially developed data structure in parallel memory banks. In addition, a pruning address manager is designed within each PE unit to reuse the pruned memory addresses. The proposed 3D mapping accelerator is implemented and evaluated using a commercial 12 nm technology. Compared to the ARM Cortex-A57 CPU in the Nvidia Jetson TX2 platform, the proposed accelerator achieves up to 62× performance and 708× energy efficiency improvement. Furthermore, the accelerator provides 63 FPS throughput, more than 2× higher than a real-time requirement, enabling real-time perception for 3D mapping.

READ FULL TEXT

page 1

page 4

page 5

research
11/08/2017

Hydra: An Accelerator for Real-Time Edge-Aware Permeability Filtering in 65nm CMOS

Many modern video processing pipelines rely on edge-aware (EA) filtering...
research
02/18/2022

EF-Train: Enable Efficient On-device CNN Training on FPGA Through Data Reshaping for Online Adaptation or Personalization

Conventionally, DNN models are trained once in the cloud and deployed in...
research
08/05/2023

FGLQR: Factor Graph Accelerator of LQR Control for Autonomous Machines

Factor graph represents the factorization of a probability distribution ...
research
11/25/2020

AccSS3D: Accelerator for Spatially Sparse 3D DNNs

Semantic understanding and completion of real world scenes is a foundati...
research
06/06/2023

GMMap: Memory-Efficient Continuous Occupancy Map Using Gaussian Mixture Model

Energy consumption of memory accesses dominates the compute energy in en...
research
09/16/2022

DS-K3DOM: 3-D Dynamic Occupancy Mapping with Kernel Inference and Dempster-Shafer Evidential Theory

Occupancy mapping has been widely utilized to represent the surroundings...
research
07/05/2023

RBDCore: Robot Rigid Body Dynamics Accelerator with Multifunctional Pipelines

Rigid body dynamics is a key technology in the robotics field. In trajec...

Please sign up or login with your details

Forgot password? Click here to reset