{"id":"https://openalex.org/W4310581270","doi":"https://doi.org/10.1109/icta56932.2022.9963112","title":"ROPY-SLAM: a Heterogeneous CPU-FPGA System for Simultaneous Localization and Mapping","display_name":"ROPY-SLAM: a Heterogeneous CPU-FPGA System for Simultaneous Localization and Mapping","publication_year":2022,"publication_date":"2022-10-28","ids":{"openalex":"https://openalex.org/W4310581270","doi":"https://doi.org/10.1109/icta56932.2022.9963112"},"language":"en","primary_location":{"id":"doi:10.1109/icta56932.2022.9963112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icta56932.2022.9963112","pdf_url":null,"source":{"id":"https://openalex.org/S4363608577","display_name":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","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/A5100718235","display_name":"Weiyi Zhang","orcid":"https://orcid.org/0000-0003-1296-3579"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiyi Zhang","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077841990","display_name":"Liting Niu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liting Niu","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051972448","display_name":"Chaoyang Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Ding","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775831","display_name":"Yiyang Wang","orcid":"https://orcid.org/0000-0002-8924-3468"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyang Wang","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024691380","display_name":"Fasih Ud Din Farrukh","orcid":"https://orcid.org/0000-0002-0178-8130"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fasih Ud Din Farrukh","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074033048","display_name":"Chun Zhang","orcid":"https://orcid.org/0000-0001-9791-4500"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Zhang","raw_affiliation_strings":["School of Integrated Circuits, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Integrated Circuits, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100718235"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.2774,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44695421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"126"},"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":0.9984999895095825,"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":0.9939000010490417,"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":0.8616186380386353},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7607769966125488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7565731406211853},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.7059792280197144},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6022014021873474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5842713713645935},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.5477924346923828},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5211560726165771},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4736843407154083},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41237208247184753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37249183654785156},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36073994636535645},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07047271728515625},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06811532378196716}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8616186380386353},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7607769966125488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7565731406211853},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.7059792280197144},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6022014021873474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5842713713645935},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.5477924346923828},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5211560726165771},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4736843407154083},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41237208247184753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37249183654785156},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36073994636535645},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07047271728515625},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06811532378196716},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icta56932.2022.9963112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icta56932.2022.9963112","pdf_url":null,"source":{"id":"https://openalex.org/S4363608577","display_name":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G7454886137","display_name":null,"funder_award_id":"U20A20220","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1491719799","https://openalex.org/W2606894526","https://openalex.org/W2950222812"],"related_works":["https://openalex.org/W2120447654","https://openalex.org/W2977179488","https://openalex.org/W2144453115","https://openalex.org/W2128223750","https://openalex.org/W3197329366","https://openalex.org/W3212920529","https://openalex.org/W2122871747","https://openalex.org/W1750372561","https://openalex.org/W1501082329","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,15,25,58,69,82],"mapping":[3],"(SLAM)":[4],"is":[5,23,46],"an":[6],"emerging":[7],"robotic":[8,92],"technology":[9],"enabling":[10],"autonomous":[11],"robots":[12],"to":[13,31,48],"self-localize":[14],"map":[16],"the":[17,64],"surrounding":[18],"environments.":[19],"However,":[20],"SLAM":[21,45],"system":[22,62],"time":[24,66],"resource":[26,70],"consuming,":[27],"making":[28],"it":[29],"hard":[30],"implement":[32],"on":[33],"mobile":[34],"devices.":[35],"In":[36],"this":[37],"work,":[38],"ROPY-SLAM,":[39],"a":[40,86],"novel":[41],"heterogeneous":[42],"framework":[43],"for":[44,88],"proposed":[47,61],"take":[49],"advantage":[50],"of":[51,91],"various":[52],"devices":[53],"such":[54],"as":[55],"personal":[56],"computer":[57],"FPGA.":[59],"The":[60],"reduces":[63],"execution":[65],"by":[67,72],"28.6%":[68],"utilization":[71],"at":[73],"most":[74],"71.2%.":[75],"Moreover,":[76],"ROPY-SLAM":[77],"supports":[78],"more":[79],"flexible":[80],"hardware":[81],"software":[83],"implementations,":[84],"providing":[85],"solution":[87],"distributed":[89],"calculation":[90],"applications.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}