Related papers: PLAM: a Posit Logarithm-Approximate Multiplier

This paper discusses recent research that aims to enable computation close to data, an approach we broadly call processing-in-memory (PIM). PIM places computation mechanisms in or near where the data is stored (i.e., inside memory chips or…

Optimizing Deep Learning-based Simultaneous Localization and Mapping (DL-SLAM) algorithms is essential for efficient implementation on resource-constrained embedded platforms, enabling real-time on-board computation in autonomous mobile…

This paper presents a novel meta algorithm, Partition-Merge (PM), which takes existing centralized algorithms for graph computation and makes them distributed and faster. In a nutshell, PM divides the graph into small subgraphs using our…

The distributed recursion (DR) algorithm is an effective method for solving the pooling problem that arises in many applications. It is based on the well-known P-formulation of the pooling problem, which involves the flow and quality…

Efficient neural networks (NNs) leveraging lookup tables (LUTs) have demonstrated significant potential for emerging AI applications, particularly when deployed on field-programmable gate arrays (FPGAs) for edge computing. These…

This paper introduces a new coding algorithm for Framed Pulse Width Modulation (FPWM). The proposed algorithm requires 93% fewer look-up tables (LUTs) than the previous FPWM coding algorithm and increases a bitrate by 25%. The proposed…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

Maximum likelihood estimation (MLE) is a well-known estimation method used in many robotic and computer vision applications. Under Gaussian assumption, the MLE converts to a nonlinear least squares (NLS) problem. Efficient solutions to NLS…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

Deep neural networks (DNNs) have made great progress in various fields. In particular, the quantized neural network is a promising technique making DNNs compatible on resource-limited devices for memory and computation saving. In this…

In today's cyber-enabled smart grids, high penetration of uncertain renewables, purposeful manipulation of meter readings, and the need for wide-area situational awareness, call for fast, accurate, and robust power system state estimation.…

SLAM system using only point cloud has been proven successful in recent years. In most of these systems, they extract features for tracking after ground removal, which causes large variance on the z-axis. Ground actually provides robust…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

Matrix multiplication computation acceleration has been a research hotspot across various domains. Due to the characteristics of some applications, approximate matrix multiplication can achieve significant performance improvements without…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

The recent deployment of distributed battery units in prosumer premises offer new opportunities for providing aggregated flexibility services to both distribution system operators and balance responsible parties. The optimization problem…

Deep clustering - joint representation learning and latent space clustering - is a well studied problem especially in computer vision and text processing under the deep learning framework. While the representation learning is generally…

SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…

In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular…

Traditional Von Neumann computing is falling apart in the era of exploding data volumes as the overhead of data transfer becomes forbidding. Instead, it is more energy-efficient to fuse compute capability with memory where the data reside.…