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Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power | IEEE Conference Publication | IEEE Xplore

Visual Inertial Odometry At the Edge: A Hardware-Software Co-design Approach for Ultra-low Latency and Power


Abstract:

Visual Inertial Odometry (VIO) is used for estimating pose and trajectory of a system and is a foundational requirement in many emerging applications like AR/VR, autonomo...Show More

Abstract:

Visual Inertial Odometry (VIO) is used for estimating pose and trajectory of a system and is a foundational requirement in many emerging applications like AR/VR, autonomous navigation in cars, drones and robots. In this paper, we analyze key compute bottlenecks in VIO and present a highly optimized VIO accelerator based on a hardware-software codesign approach. We detail a set of novel micro-architectural techniques that optimize compute, data movement, bandwidth and dynamic power to make it possible to deliver high quality of VIO at ultra-low latency and power required for budget constrained edge devices. By offloading the computation of the critical linear algebra algorithms from the CPU, the accelerator enables high sample rate IMU usage in VIO processing while acceleration of image processing pipe increases precision, robustness and reduces IMU induced drift in final pose estimate. The proposed accelerator requires a small silicon footprint (1.3 mm2 in a 28nm process at 600 MHz), utilizes a modest on-chip shared SRAM (560KB) and achieves 10x speedup over a software-only implementation in terms of image sample-based pose update latency while consuming just 2.2 mW power. In a FPGA implementation, using the EuRoC VIO dataset (VGA 30fps images and 100Hz IMU) the accelerator design achieves pose estimation accuracy (loop closure error) comparable to a software based VIO implementation.
Date of Conference: 25-29 March 2019
Date Added to IEEE Xplore: 16 May 2019
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Conference Location: Florence, Italy

References

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