{"id":"https://openalex.org/W7140942668","doi":"https://doi.org/10.1109/fpl68686.2025.00041","title":"FPGA Stereo Visual Slam with Efficient Stereo Feature Matching and Key-Frame Generation","display_name":"FPGA Stereo Visual Slam with Efficient Stereo Feature Matching and Key-Frame Generation","publication_year":2025,"publication_date":"2025-09-01","ids":{"openalex":"https://openalex.org/W7140942668","doi":"https://doi.org/10.1109/fpl68686.2025.00041"},"language":null,"primary_location":{"id":"doi:10.1109/fpl68686.2025.00041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fpl68686.2025.00041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 35th 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/A5031793674","display_name":"Miyuru Thathsara","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Miyuru Thathsara","raw_affiliation_strings":["College of Computing and Data Science, Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"College of Computing and Data Science, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081180670","display_name":"Damith Anhettigama","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Damith Anhettigama","raw_affiliation_strings":["College of Computing and Data Science, Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"College of Computing and Data Science, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002694277","display_name":"Siew-Kei Lam","orcid":"https://orcid.org/0000-0002-8346-2635"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Siew-Kei Lam","raw_affiliation_strings":["College of Computing and Data Science, Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"College of Computing and Data Science, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031793674"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.75868968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"236","last_page":"244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.8774999976158142,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.8774999976158142,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.02590000070631504,"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.009399999864399433,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.544700026512146},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4668999910354614},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.43050000071525574},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3497999906539917},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.32829999923706055},{"id":"https://openalex.org/keywords/stereo-cameras","display_name":"Stereo cameras","score":0.301800012588501}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7336000204086304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7243000268936157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6201000213623047},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.544700026512146},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4668999910354614},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3497999906539917},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.301800012588501},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C31451488","wikidata":"https://www.wikidata.org/wiki/Q5157586","display_name":"Computer stereo vision","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C158096908","wikidata":"https://www.wikidata.org/wiki/Q3983303","display_name":"Template matching","level":3,"score":0.2687000036239624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2581000030040741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/fpl68686.2025.00041","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fpl68686.2025.00041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 35th International Conference on Field-Programmable Logic and Applications (FPL)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6392576098442078,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1612997784","https://openalex.org/W2033819227","https://openalex.org/W2087110688","https://openalex.org/W2117228865","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2788806311","https://openalex.org/W2889436533","https://openalex.org/W2898231767","https://openalex.org/W2946669096","https://openalex.org/W2977977449","https://openalex.org/W3043971245","https://openalex.org/W3170147957","https://openalex.org/W3175598427","https://openalex.org/W3181607800","https://openalex.org/W3216154510","https://openalex.org/W4293571901","https://openalex.org/W4311839611","https://openalex.org/W4388240406","https://openalex.org/W4400233443","https://openalex.org/W4402742505","https://openalex.org/W4413278589"],"related_works":[],"abstract_inverted_index":{"Stereo":[0],"visual":[1,36],"Simultaneous":[2],"Localization":[3],"and":[4,19,54,68,78,119],"Mapping":[5],"(SLAM)":[6],"enables":[7],"autonomous":[8],"agents":[9],"to":[10,74,130],"navigate":[11],"complex":[12],"environments":[13],"by":[14,45],"simultaneously":[15],"building":[16],"metric":[17],"maps":[18],"localizing":[20],"within":[21],"them.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26,87],"present":[27],"the":[28,96,104],"first":[29],"FPGA-based":[30],"System-on-Chip":[31],"(SoC)":[32],"implementation":[33],"of":[34,99],"stereo":[35,41,132],"SLAM.":[37],"Our":[38],"design":[39],"reduces":[40],"feature":[42],"matching":[43,59],"latency":[44],"dynamically":[46],"grouping":[47],"descriptors":[48],"based":[49,94],"on":[50,81,95,109,135],"localized":[51],"image":[52],"regions":[53],"descriptor":[55],"similarity,":[56],"while":[57,126],"preserving":[58],"accuracy.":[60],"We":[61],"also":[62],"revisit":[63],"conventional":[64],"key-frame":[65,91],"generation":[66,92],"strategies":[67],"show":[69,112],"that":[70,113],"some":[71],"criteria":[72],"lead":[73],"unnecessary":[75],"map":[76,101],"expansion":[77],"runtime":[79],"instability":[80],"resource-constrained":[82],"platforms.":[83,137],"To":[84],"address":[85],"this,":[86],"propose":[88],"a":[89],"new":[90],"method":[93],"tracking":[97],"status":[98],"local":[100],"points":[102],"in":[103],"current":[105],"frame.":[106],"Extensive":[107],"evaluations":[108],"standard":[110],"benchmarks":[111],"our":[114,142],"system":[115],"achieves":[116],"high":[117],"robustness":[118],"real-time":[120],"performance":[121],"with":[122],"notable":[123],"performance-power":[124],"gains,":[125],"maintaining":[127],"accuracy":[128],"comparable":[129],"state-of-the-art":[131],"SLAM":[133],"methods":[134],"embedded":[136],"Real-world":[138],"experiments":[139],"further":[140],"confirm":[141],"system's":[143],"suitability":[144],"for":[145],"practical":[146],"robotic":[147],"applications.":[148]},"counts_by_year":[],"updated_date":"2026-03-28T06:11:35.319607","created_date":"2026-03-27T00:00:00"}
