{"id":"https://openalex.org/W3216154510","doi":"https://doi.org/10.1109/icfpt52863.2021.9609808","title":"ac<sup>2</sup>SLAM: FPGA Accelerated High-Accuracy SLAM with Heapsort and Parallel Keypoint Extractor","display_name":"ac<sup>2</sup>SLAM: FPGA Accelerated High-Accuracy SLAM with Heapsort and Parallel Keypoint Extractor","publication_year":2021,"publication_date":"2021-11-23","ids":{"openalex":"https://openalex.org/W3216154510","doi":"https://doi.org/10.1109/icfpt52863.2021.9609808","mag":"3216154510"},"language":"en","primary_location":{"id":"doi:10.1109/icfpt52863.2021.9609808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icfpt52863.2021.9609808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Field-Programmable Technology (ICFPT)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100416961","display_name":"Cheng Wang","orcid":"https://orcid.org/0000-0001-6075-796X"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Cheng Wang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University","institution_ids":["https://openalex.org/I4210105595","https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005085096","display_name":"Yingkun Liu","orcid":"https://orcid.org/0000-0002-2105-1961"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Yingkun Liu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University","institution_ids":["https://openalex.org/I4210105595","https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024350339","display_name":"Kedai Zuo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Kedai Zuo","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University","institution_ids":["https://openalex.org/I4210105595","https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012752485","display_name":"Jianming Tong","orcid":"https://orcid.org/0000-0001-8436-2946"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianming Tong","raw_affiliation_strings":["College of Compute, Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Compute, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110000458","display_name":"Yan Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Yan Ding","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University","institution_ids":["https://openalex.org/I4210105595","https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243518","display_name":"Pengju Ren","orcid":"https://orcid.org/0000-0003-1163-2014"},"institutions":[{"id":"https://openalex.org/I4210105595","display_name":"Institute of Art","ror":"https://ror.org/017fyx225","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210105595","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","PL"],"is_corresponding":false,"raw_author_name":"Pengju Ren","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University","institution_ids":["https://openalex.org/I4210105595","https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9937000274658203,"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/computer-science","display_name":"Computer science","score":0.6483006477355957},{"id":"https://openalex.org/keywords/orb","display_name":"Orb (optics)","score":0.606599748134613},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5911024212837219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5744675397872925},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.5720129013061523},{"id":"https://openalex.org/keywords/scale-invariant-feature-transform","display_name":"Scale-invariant feature transform","score":0.48935240507125854},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.35415947437286377},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3451744616031647},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3253369629383087},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.2970921993255615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09109309315681458}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6483006477355957},{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.606599748134613},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5911024212837219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5744675397872925},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.5720129013061523},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.48935240507125854},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.35415947437286377},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3451744616031647},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3253369629383087},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.2970921993255615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09109309315681458},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icfpt52863.2021.9609808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icfpt52863.2021.9609808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Conference on Field-Programmable Technology (ICFPT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5099999904632568,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G3017572552","display_name":null,"funder_award_id":"xhj032021005-05","funder_id":"https://openalex.org/F4320321169","funder_display_name":"Xi\u2019an Jiaotong University"}],"funders":[{"id":"https://openalex.org/F4320321169","display_name":"Xi\u2019an Jiaotong University","ror":"https://ror.org/017zhmm22"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W1501077214","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2051583603","https://openalex.org/W2087110688","https://openalex.org/W2112328181","https://openalex.org/W2112404351","https://openalex.org/W2115579991","https://openalex.org/W2117228865","https://openalex.org/W2128453758","https://openalex.org/W2154555084","https://openalex.org/W2165011274","https://openalex.org/W2167097446","https://openalex.org/W2197665211","https://openalex.org/W2535547924","https://openalex.org/W2779304298","https://openalex.org/W2803297720","https://openalex.org/W2946669096","https://openalex.org/W2964306965","https://openalex.org/W2971714504","https://openalex.org/W3102327032","https://openalex.org/W4211002880"],"related_works":["https://openalex.org/W3103148063","https://openalex.org/W2794556651","https://openalex.org/W2368057377","https://openalex.org/W4205482147","https://openalex.org/W2763213405","https://openalex.org/W1951615866","https://openalex.org/W4312069198","https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700"],"abstract_inverted_index":{"In":[0,48,184],"order":[1],"to":[2,27,40,98,116,127],"fulfill":[3],"the":[4,8,28,65,82,118,129,137,142,148,156,172,186],"rich":[5],"functions":[6],"of":[7,30,131,181],"application":[9],"layer,":[10],"robust":[11],"and":[12,16,34,71,74,94,102,136,140,167,174,193,199],"accurate":[13],"Simultaneous":[14],"Localization":[15],"Mapping":[17],"(SLAM)":[18],"technique":[19],"is":[20,38,207],"very":[21],"critical":[22],"for":[23,104,147],"robotics.":[24],"However,":[25],"due":[26],"lack":[29],"sufficient":[31,100],"computing":[32],"power":[33],"storage":[35],"capacity,":[36],"it":[37,76],"challenging":[39],"delpoy":[41],"high-accuracy":[42],"SLAM":[43,88,163,206],"in":[44,171],"embedded":[45],"devices":[46],"efficiently.":[47],"this":[49],"work,":[50],"we":[51],"propose":[52],"a":[53,92,111],"complete":[54],"acceleration":[55,145],"scheme,":[56],"termed":[57],"ac":[58,84,159,202],"<sup":[59,85,160,203],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[60,86,161,204],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[61,87,162,205],"SLAM,":[62],"based":[63],"on":[64,77,155],"ORB-SLAM2":[66,154],"algorithm":[67],"including":[68],"both":[69],"front":[70],"back":[72],"ends,":[73],"implement":[75],"an":[78],"FPGA":[79,187],"platform.":[80],"Specifically,":[81],"proposed":[83],"features":[89],"with:":[90],"1)":[91],"scalable":[93],"parallel":[95,144],"ORB":[96],"extractor":[97],"extract":[99],"keypoints":[101],"scores":[103],"throughput":[105],"matching":[106],"with":[107,152],"4%":[108],"error,":[109],"2)":[110],"PingPong":[112],"heapsort":[113],"component":[114],"(pp-heapsort)":[115],"select":[117],"significant":[119],"keypoints,":[120],"that":[121],"could":[122],"achieve":[123],"single-cycle":[124],"initiation":[125],"interval":[126],"reduce":[128],"amount":[130],"data":[132],"transfer":[133],"between":[134],"accelerator":[135],"host":[138],"CPU,":[139],"3)":[141],"potential":[143],"strategies":[146],"back-end":[149],"optimization.":[150],"Compared":[151],"running":[153],"ARM":[157],"processor,":[158],"achieves":[164,190],"2.1":[165],"\u00d7":[166,169,192,195],"2.7":[168],"faster":[170,196],"TUM":[173],"KITTI":[175],"datasets,":[176],"while":[177],"maintaining":[178],"10%":[179],"error":[180],"SOTA":[182],"eSLAM.":[183],"addition,":[185],"accelerated":[188],"front-end":[189],"4.55":[191],"40":[194],"than":[197],"eSLAM":[198],"ARM.":[200],"The":[201],"fully":[208],"open-sourced":[209],"at":[210],"https://github.com/SLAM-Hardware/acSLAM.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}