Name
Title | ||
|---|---|---|
NeuroSLAM: A 65-nm 7.25-to-8.79-TOPS/W Mixed-Signal Oscillator-Based SLAM Accelerator for Edge Robotics |
Abstract | ||
|---|---|---|
Simultaneous localization and mapping (SLAM) is a quintessential problem in autonomous navigation, augmented reality, and virtual reality. In particular, low-power SLAM has gained increasing importance for its applications in power-limited edge devices such as unmanned aerial vehicles (UAVs) and small-sized cars that constitute devices with edge intelligence. This article presents a 7.25-to-8.79-TOPS/W mixed-signal oscillator-based SLAM accelerator for applications in edge robotics. This study proposes a neuromorphic SLAM IC, called NeuroSLAM, employing oscillator-based pose-cells and a digital head direction cell to mimic place cells and head direction cells that have been discovered in a rodent brain. The oscillatory network emulates a spiking neural network and its continuous attractor property achieves spatial cognition with a sparse energy distribution, similar to the brains of rodents. Furthermore, a lightweight vision system with a max-pooling is implemented to support low-power visual odometry and re-localization. The test chip fabricated in a 65-nm CMOS exhibits a peak energy efficiency of 8.79 TOPS/W with a power consumption of 23.82 mW. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/JSSC.2020.3028298 | IEEE Journal of Solid-State Circuits |
Keywords | DocType | Volume |
Accelerator,continuous attractor network,edge intelligence,experience map,simultaneous localization and mapping (SLAM),spiking neural network (SNN),topological map,visual odometry,visual template (VT) | Journal | 56 |
Issue | ISSN | Citations |
1 | 0018-9200 | 0 |
PageRank | References | Authors |
0.34 | 19 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jong-Hyeok Yoon | 1 | 5 | 1.79 |
| Arijit Raychowdhury | 2 | 514 | 71.77 |