FPGA-implemented corner feature extracting simultaneous localization and mapping

Chiang Heng Chien, Chen Chien Hsu, Wei Yen Wang, Wen-Chung Kao, Chiang Ju Chien

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel corner feature extracting simultaneous localization and mapping (CFESLAM) algorithm is proposed, which employs a mechanism of corner feature extraction that regards only corners as the landmarks to ease the computational burden. To further improve the overall computational efficiency, the proposed CFESLAM is implemented by hardware on a FPGA platform. By doing so, the proposed approach is capable of providing a robust, reliable, and low-cost real-time SLAM system. Experimental results have confirmed that notable improvement is made by using the proposed approach.

Original languageEnglish
Title of host publication2016 IEEE 6th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016
EditorsTom Wilson, Wolfgang Endemann, Hans L. Cycon, Dietmar Hepper, Jose Maria Flores-Arias
PublisherIEEE Computer Society
Pages98-99
Number of pages2
ISBN (Electronic)9781509020966
DOIs
Publication statusPublished - 2016 Oct 25
Event6th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016 - Berlin, Germany
Duration: 2016 Sep 52016 Sep 7

Publication series

NameIEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Volume2016-October
ISSN (Print)2166-6814
ISSN (Electronic)2166-6822

Other

Other6th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016
CountryGermany
CityBerlin
Period16/9/516/9/7

Keywords

  • FPGA
  • FastSLAM
  • Feature Extraction
  • Simultaneous Localization and Mapping (SLAM)

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Media Technology

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  • Cite this

    Chien, C. H., Hsu, C. C., Wang, W. Y., Kao, W-C., & Chien, C. J. (2016). FPGA-implemented corner feature extracting simultaneous localization and mapping. In T. Wilson, W. Endemann, H. L. Cycon, D. Hepper, & J. M. Flores-Arias (Eds.), 2016 IEEE 6th International Conference on Consumer Electronics - Berlin, ICCE-Berlin 2016 (pp. 98-99). [7684729] (IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin; Vol. 2016-October). IEEE Computer Society. https://doi.org/10.1109/ICCE-Berlin.2016.7684729