{"id":"https://openalex.org/W2527126448","doi":"https://doi.org/10.1109/fpl.2016.7577365","title":"Semi-dense SLAM on an FPGA SoC","display_name":"Semi-dense SLAM on an FPGA SoC","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2527126448","doi":"https://doi.org/10.1109/fpl.2016.7577365","mag":"2527126448"},"language":"en","primary_location":{"id":"doi:10.1109/fpl.2016.7577365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fpl.2016.7577365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 26th International Conference on Field Programmable Logic and Applications (FPL)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022083993","display_name":"Konstantinos Boikos","orcid":"https://orcid.org/0000-0002-4482-906X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Konstantinos Boikos","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial College London"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041150785","display_name":"Christos-Savvas Bouganis","orcid":"https://orcid.org/0000-0002-4906-4510"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Christos-Savvas Bouganis","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial College London"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022083993"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":6.9572,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.96165397,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.8120133876800537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7265760898590088},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.6357526183128357},{"id":"https://openalex.org/keywords/multi-core-processor","display_name":"Multi-core processor","score":0.566565215587616},{"id":"https://openalex.org/keywords/programmable-logic-device","display_name":"Programmable logic device","score":0.5390998125076294},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.504233717918396},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4854200780391693},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48274344205856323},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.47037285566329956},{"id":"https://openalex.org/keywords/system-on-a-chip","display_name":"System on a chip","score":0.45630118250846863},{"id":"https://openalex.org/keywords/hardware-acceleration","display_name":"Hardware acceleration","score":0.43227940797805786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3108316659927368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2420932650566101},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14592954516410828},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.1261281967163086}],"concepts":[{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.8120133876800537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7265760898590088},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.6357526183128357},{"id":"https://openalex.org/C78766204","wikidata":"https://www.wikidata.org/wiki/Q555032","display_name":"Multi-core processor","level":2,"score":0.566565215587616},{"id":"https://openalex.org/C206274596","wikidata":"https://www.wikidata.org/wiki/Q1063837","display_name":"Programmable logic device","level":2,"score":0.5390998125076294},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.504233717918396},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4854200780391693},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48274344205856323},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.47037285566329956},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.45630118250846863},{"id":"https://openalex.org/C13164978","wikidata":"https://www.wikidata.org/wiki/Q600158","display_name":"Hardware acceleration","level":3,"score":0.43227940797805786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3108316659927368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2420932650566101},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14592954516410828},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.1261281967163086},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/fpl.2016.7577365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fpl.2016.7577365","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 26th International Conference on Field Programmable Logic and Applications (FPL)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/43363","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/43363","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"26th International Conference on Field-Programmable Logic and Applications (FPL)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W194230875","https://openalex.org/W612478963","https://openalex.org/W1530919911","https://openalex.org/W1676459225","https://openalex.org/W1969161726","https://openalex.org/W1970504153","https://openalex.org/W1975713381","https://openalex.org/W1993688584","https://openalex.org/W2002429034","https://openalex.org/W2008399778","https://openalex.org/W2013503831","https://openalex.org/W2036361836","https://openalex.org/W2037050532","https://openalex.org/W2039548306","https://openalex.org/W2049750053","https://openalex.org/W2068057901","https://openalex.org/W2074464158","https://openalex.org/W2078438023","https://openalex.org/W2098836126","https://openalex.org/W2108134361","https://openalex.org/W2140599684","https://openalex.org/W2143769815","https://openalex.org/W2151014835","https://openalex.org/W2151290401","https://openalex.org/W2153054365","https://openalex.org/W2158059210","https://openalex.org/W2159412849","https://openalex.org/W2236623899","https://openalex.org/W2509493982","https://openalex.org/W6618872416"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2128523353","https://openalex.org/W2291648581","https://openalex.org/W2054281082","https://openalex.org/W3046046312","https://openalex.org/W1668633329","https://openalex.org/W3006554650","https://openalex.org/W2785417401","https://openalex.org/W4388581273","https://openalex.org/W2058784220"],"abstract_inverted_index":{"Deploying":[0],"advanced":[1],"Simultaneous":[2],"Localisation":[3],"and":[4,22,38,67],"Mapping,":[5],"or":[6],"SLAM,":[7,60],"algorithms":[8],"in":[9,152],"autonomous":[10],"low-power":[11],"robotics":[12],"will":[13],"enable":[14],"emerging":[15],"new":[16],"applications":[17],"which":[18],"require":[19],"an":[20,61,64,82,90,99,116,140],"accurate":[21],"information":[23],"rich":[24],"reconstruction":[25,41],"of":[26,76,102,110,119,142,155],"the":[27,71,125,131,153,156],"environment.":[28],"This":[29,48],"has":[30,112,144],"not":[31],"been":[32,113,145],"achieved":[33,114,146],"so":[34],"far":[35],"because":[36],"accuracy":[37],"dense":[39],"3D":[40],"come":[42],"with":[43,81,115],"a":[44,55,108,136],"high":[45],"computational":[46],"complexity.":[47],"paper":[49],"discusses":[50],"custom":[51,126],"hardware":[52],"design":[53],"on":[54,70,135],"novel":[56],"platform":[57],"for":[58,107,124,147],"embedded":[59,65,85],"FPGA-SoC,":[62],"combining":[63],"CPU":[66,86],"programmable":[68,77],"logic":[69],"same":[72],"chip.":[73],"The":[74],"use":[75],"logic,":[78],"tightly":[79],"integrated":[80],"efficient":[83],"multicore":[84],"stands":[87],"to":[88,93,130],"provide":[89],"effective":[91],"solution":[92],"this":[94,97],"problem.":[95],"In":[96,128],"work":[98],"average":[100],"framerate":[101],"more":[103],"than":[104,121],"4":[105],"frames/second":[106],"resolution":[109],"320\u00d7240":[111],"estimated":[117],"power":[118],"less":[120],"1":[122],"Watt":[123],"hardware.":[127],"comparison":[129],"software-only":[132],"version,":[133],"running":[134],"dual-core":[137],"ARM":[138],"processor,":[139],"acceleration":[141],"2\u00d7":[143],"LSD-SLAM,":[148],"without":[149],"any":[150],"compromise":[151],"quality":[154],"result.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-01-19T04:01:09.351973","created_date":"2025-10-10T00:00:00"}