{"id":"https://openalex.org/W4400230150","doi":"https://doi.org/10.1109/iscas58744.2024.10558139","title":"Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications","display_name":"Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications","publication_year":2024,"publication_date":"2024-05-19","ids":{"openalex":"https://openalex.org/W4400230150","doi":"https://doi.org/10.1109/iscas58744.2024.10558139"},"language":"en","primary_location":{"id":"doi:10.1109/iscas58744.2024.10558139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas58744.2024.10558139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Circuits and Systems (ISCAS)","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/A5102699169","display_name":"Dingcheng Jiang","orcid":"https://orcid.org/0009-0004-4379-694X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dingcheng Jiang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060844169","display_name":"Bingqiang Liu","orcid":"https://orcid.org/0000-0003-1612-1416"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingqiang Liu","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101400626","display_name":"Jipeng Wang","orcid":"https://orcid.org/0000-0002-6962-0238"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jipeng Wang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071358129","display_name":"Ao Hu","orcid":"https://orcid.org/0000-0003-0260-6690"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Hu","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112593845","display_name":"Yequan Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yequan Zhao","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032887479","display_name":"Minjie Bao","orcid":"https://orcid.org/0000-0001-6750-5386"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minjie Bao","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022571597","display_name":"Zhendong Fan","orcid":"https://orcid.org/0000-0001-8513-1672"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhendong Fan","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071524817","display_name":"Zixuan Shen","orcid":"https://orcid.org/0000-0002-1740-3215"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Shen","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Optical and Electronic Information,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101391340","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0003-0090-1258"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406890","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0001-7398-1127"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["Huazhong University of Science and Technology,School of Future Technology,Wuhan,China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,School of Future Technology,Wuhan,China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5102699169"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":1.0371,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.74247065,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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/T10829","display_name":"Interconnection Networks and Systems","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/mobile-robot","display_name":"Mobile robot","score":0.6869603395462036},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6312242746353149},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.554600715637207},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5082516074180603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49301716685295105},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.486944317817688},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4224241375923157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17883875966072083},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.16115900874137878},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06889870762825012},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0655650794506073}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6869603395462036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6312242746353149},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.554600715637207},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5082516074180603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49301716685295105},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.486944317817688},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4224241375923157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17883875966072083},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.16115900874137878},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06889870762825012},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0655650794506073},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iscas58744.2024.10558139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas58744.2024.10558139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Circuits and Systems (ISCAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334111","display_name":"Innovation Fund","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2357545926","https://openalex.org/W4200529193"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2320550378","https://openalex.org/W2020144404","https://openalex.org/W4372347353","https://openalex.org/W2149615975","https://openalex.org/W2229640938","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,48],"demonstration":[1],"shows":[2],"a":[3,28,32,38],"Extend":[4],"Kalman":[5],"Filter-Simultaneous":[6],"Localization":[7],"And":[8],"Mapping":[9],"(EKF-SLAM)":[10],"accelerator":[11],"based":[12,41],"System":[13],"On":[14],"Chip":[15],"(SoC)":[16],"design":[17],"for":[18],"Autonomous":[19],"Mobile":[20],"Robots":[21],"(AMR).":[22],"The":[23],"AMR":[24,49],"platform":[25],"consists":[26],"of":[27],"multi-sensor":[29],"system":[30,50],"with":[31,54],"wheel":[33],"encoder":[34],"and":[35,37],"LiDAR,":[36],"ZYNQ-7000":[39],"FPGA":[40],"SoC":[42],"featuring":[43],"an":[44],"EKF-SLAM":[45],"hardware":[46],"accelerator.":[47],"achieves":[51],"real-time":[52],"SLAM":[53],"significant":[55],"energy":[56],"efficient":[57],"improvement":[58],"against":[59],"the":[60],"state-of-the-art":[61],"designs.":[62]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}