{"id":"https://openalex.org/W4389166663","doi":"https://doi.org/10.1109/iccad57390.2023.10323734","title":"EDS-SLAM: An Energy-Efficient Accelerator for Real-Time Dense Stereo SLAM with Learned Feature Matching","display_name":"EDS-SLAM: An Energy-Efficient Accelerator for Real-Time Dense Stereo SLAM with Learned Feature Matching","publication_year":2023,"publication_date":"2023-10-28","ids":{"openalex":"https://openalex.org/W4389166663","doi":"https://doi.org/10.1109/iccad57390.2023.10323734"},"language":"en","primary_location":{"id":"doi:10.1109/iccad57390.2023.10323734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad57390.2023.10323734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ACM International Conference on Computer Aided Design (ICCAD)","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/A5030588469","display_name":"Qian Huang","orcid":"https://orcid.org/0000-0002-1328-735X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qian Huang","raw_affiliation_strings":["Sun Yat-sen University,Guangzhou,China","Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108309700","display_name":"Gaoxing Shang","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaoxing Shang","raw_affiliation_strings":["Sun Yat-sen University,Guangzhou,China","Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433372","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0001-5728-7645"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Sun Yat-sen University,Guangzhou,China","Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100389238","display_name":"Gang Chen","orcid":"https://orcid.org/0000-0002-0124-2752"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Chen","raw_affiliation_strings":["Sun Yat-sen University,Guangzhou,China","Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030588469"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.3235,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85037339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.851258397102356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7186498641967773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7142637968063354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6615663766860962},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.658260703086853},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47078603506088257},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.413545161485672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2838808298110962},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21115189790725708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10354840755462646}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.851258397102356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7186498641967773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7142637968063354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6615663766860962},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.658260703086853},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47078603506088257},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.413545161485672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2838808298110962},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21115189790725708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10354840755462646},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccad57390.2023.10323734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad57390.2023.10323734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/ACM International Conference on Computer Aided Design (ICCAD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1612997784","https://openalex.org/W1869500417","https://openalex.org/W2099940712","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2135492382","https://openalex.org/W2151103935","https://openalex.org/W2535547924","https://openalex.org/W2618039218","https://openalex.org/W2737260104","https://openalex.org/W2741658264","https://openalex.org/W2745859992","https://openalex.org/W2785746569","https://openalex.org/W2923015859","https://openalex.org/W2946669096","https://openalex.org/W2963748588","https://openalex.org/W2971714504","https://openalex.org/W2983177818","https://openalex.org/W3035708866","https://openalex.org/W3043075211","https://openalex.org/W3091355409","https://openalex.org/W3102327032","https://openalex.org/W3129312095","https://openalex.org/W3131673036","https://openalex.org/W3184625192","https://openalex.org/W4286377498","https://openalex.org/W4311839611","https://openalex.org/W6738345448","https://openalex.org/W6742137223"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2770593030","https://openalex.org/W2912965286","https://openalex.org/W3154990682","https://openalex.org/W4281727072","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W2949553486","https://openalex.org/W2377538627"],"abstract_inverted_index":{"Simultaneous":[0],"Localization":[1],"And":[2],"Mapping":[3],"(SLAM)":[4],"is":[5,183],"a":[6,27,127,157],"fundamental":[7],"component":[8],"used":[9],"in":[10,60],"many":[11],"applications,":[12],"such":[13,79],"as":[14,80,218,220],"robotic":[15],"navigation":[16,23],"and":[17,83,94,113,122,176],"augmented":[18],"reality.":[19],"To":[20,117],"achieve":[21,109,118,165],"on-line":[22],"on":[24,50,104,202],"resource-constrained":[25],"platforms,":[26],"fair":[28],"amount":[29],"of":[30,68,159,171,181],"research":[31],"has":[32],"been":[33],"devoted":[34],"to":[35,108,134,164,189,213,222],"develop":[36],"real-time":[37,98,110,166],"SLAM":[38,101,193],"accelerators.":[39],"However,":[40],"most":[41],"existing":[42],"accelerators":[43,163],"have":[44],"the":[45,69,169,190,203],"following":[46],"limitations:":[47],"(1)":[48],"relying":[49],"hand-crafted":[51],"visual":[52,111],"features,":[53],"which":[54,72],"cannot":[55],"offer":[56],"robust":[57,95,142],"feature":[58,106,174],"association":[59,139],"complex":[61],"environments;":[62],"(2)":[63],"only":[64,137],"recovering":[65],"sparse":[66],"points":[67],"observed":[70],"scene,":[71],"are":[73],"not":[74,136],"adequate":[75],"for":[76,97,140,149,168],"high-level":[77],"tasks":[78],"obstacle":[81],"avoidance":[82],"path":[84],"planning.":[85],"In":[86,153],"this":[87],"paper,":[88],"we":[89,155],"present":[90],"EDS-SLAM,":[91,154],"an":[92],"energy-efficient":[93],"architecture":[96,133],"dense":[99,114,192,208],"stereo":[100,147,172],"system":[102,194],"based":[103],"learned":[105],"matching":[107,148],"localization":[112,204],"mapping":[115,210],"reconstruction.":[116],"both":[119],"resource":[120],"efficiency":[121,227],"perception":[123],"robustness,":[124],"EDS-SLAM":[125,182,198],"utilizes":[126],"share-used":[128],"binary":[129],"neural":[130],"network":[131],"(BNN)":[132],"perform":[135],"key-points":[138],"computing":[141],"camera":[143],"poses,":[144],"but":[145,205],"also":[146],"obtaining":[150],"high-quality":[151],"mapping.":[152],"design":[156],"set":[158],"dedicated,":[160],"well":[161,219],"optimized":[162],"implementations":[167],"pipelines":[170],"matching,":[173],"extraction":[175],"key-point":[177],"association.":[178],"The":[179],"effectiveness":[180],"evaluated":[184],"through":[185],"comprehensive":[186],"experiments.":[187],"Compared":[188],"state-of-the-art":[191],"with":[195,211],"software-based":[196],"implementation,":[197],"achieves":[199],"comparable":[200],"accuracy":[201],"higher":[206],"precision":[207],"3D":[209],"up":[212,221],"<tex":[214,223],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[215,224],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$2.03\\times$</tex>":[216],"speed-up":[217],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$23.1\\times$</tex>":[225],"energy":[226],"improvement,":[228],"respectively.":[229]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
