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The Segment Anything Model (SAM) has advanced interactive segmentation but is limited by the high computational cost on high-resolution images. This requires downsampling to meet GPU constraints, sacrificing the fine-grained details needed…
Deploying deep learning models on embedded systems has been challenging due to limited computing resources. The majority of existing work focuses on accelerating image classification, while other fundamental vision problems, such as object…
This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…
Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and…
In current visual object tracking system, the CPU or GPU-based visual object tracking systems have high computational cost and consume a prohibitive amount of power. Therefore, in this paper, to reduce the computational burden of the…
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…
Perception and control systems for autonomous vehicles are an active area of scientific and industrial research. These solutions should be characterised by high efficiency in recognising obstacles and other environmental elements in…
Vision Mamba (ViM) models offer a compelling efficiency advantage over Transformers by leveraging the linear complexity of State Space Models (SSMs), yet efficiently deploying them on FPGAs remains challenging. Linear layers struggle with…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
LiDAR sensors have been widely used in many autonomous vehicle modalities, such as perception, mapping, and localization. This paper presents an FPGA-based deep learning platform for real-time point cloud processing targeted on autonomous…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…
Embedded vision systems need efficient and robust image processing algorithms to perform real-time, with resource-constrained hardware. This research investigates image processing algorithms, specifically edge detection, corner detection,…
Recent decades have witnessed a significant increase in the use of visual odometry(VO) in the computer vision area. It has also been used in varieties of robotic applications, for example on the Mars Exploration Rovers. This paper, firstly,…
The development of data innovation as of late and the expanded limit, has permitted the acquaintance of artificial vision connected with SLAM, offering ascend to what is known as Visual SLAM. The objective of this paper is to build up a…