相关论文: An Integrated FPGA Accelerator for Deep Learning-b…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

Point cloud registration is the basis for many robotic applications such as odometry and Simultaneous Localization And Mapping (SLAM), which are increasingly important for autonomous mobile robots. Computational resources and power budgets…

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…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

Point cloud registration serves as a basis for vision and robotic applications including 3D reconstruction and mapping. Despite significant improvements on the quality of results, recent deep learning approaches are computationally…

The classical path planners, such as sampling-based path planners, can provide probabilistic completeness guarantees in the sense that the probability that the planner fails to return a solution if one exists, decays to zero as the number…

Real-time and efficient path planning is critical for all robotic systems. In particular, it is of greater importance for industrial robots since the overall planning and execution time directly impact the cycle time and automation…

Convolutional nets have been shown to achieve state-of-the-art accuracy in many biomedical image analysis tasks. Many tasks within biomedical analysis domain involve analyzing volumetric (3D) data acquired by CT, MRI and Microscopy…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

Almost in every heavily computation-dependent application, from 6G communication systems to autonomous driving platforms, a large portion of computing should be near to the client side. Edge computing (AI at Edge) in mobile devices is one…

FPGA is appropriate for fix-point neural networks computing due to high power efficiency and configurability. However, its design must be intensively refined to achieve high performance using limited hardware resources. We present an…

Mixed-precision neural networks (MPNNs) that enable the use of just enough data width for a deep learning task promise significant advantages of both inference accuracy and computing overhead. FPGAs with fine-grained reconfiguration…

Point cloud processing is a computational bottleneck in autonomous driving systems, especially for real-time applications, while energy efficiency remains a critical system constraint. This work presents FPPS, an FPGA-accelerated point…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Channel pruning can effectively reduce both computational cost and memory footprint of the original network while keeping a comparable accuracy performance. Though great success has been achieved in channel pruning for 2D image-based…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

Accurate navigation is of paramount importance to ensure flight safety and efficiency for autonomous drones. Recent research starts to use Deep Neural Networks to enhance drone navigation given their remarkable predictive capability for…

Research has shown that deep neural networks contain significant redundancy, and thus that high classification accuracy can be achieved even when weights and activations are quantized down to binary values. Network binarization on FPGAs…