{"id":"https://openalex.org/W4415594223","doi":"https://doi.org/10.1109/jssc.2025.3610931","title":"Space-Mate: A 303.5-mW Real-Time Sparse Mixture-of-Experts-Based NeRF-SLAM Processor for Mobile Spatial Computing","display_name":"Space-Mate: A 303.5-mW Real-Time Sparse Mixture-of-Experts-Based NeRF-SLAM Processor for Mobile Spatial Computing","publication_year":2025,"publication_date":"2025-10-27","ids":{"openalex":"https://openalex.org/W4415594223","doi":"https://doi.org/10.1109/jssc.2025.3610931"},"language":null,"primary_location":{"id":"doi:10.1109/jssc.2025.3610931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2025.3610931","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-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/A5029169930","display_name":"Gwangtae Park","orcid":"https://orcid.org/0000-0002-9132-0311"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gwangtae Park","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9132-0311","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062542503","display_name":"Seokchan Song","orcid":"https://orcid.org/0000-0002-4119-8936"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokchan Song","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4119-8936","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092533479","display_name":"Haoyang Sang","orcid":"https://orcid.org/0000-0002-3959-5051"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Haoyang Sang","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3959-5051","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079811240","display_name":"Dongseok Im","orcid":"https://orcid.org/0000-0002-5856-8921"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongseok Im","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5856-8921","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039062148","display_name":"Donghyeon Han","orcid":"https://orcid.org/0000-0002-5212-2072"},"institutions":[{"id":"https://openalex.org/I67900169","display_name":"Chung-Ang University","ror":"https://ror.org/01r024a98","country_code":"KR","type":"education","lineage":["https://openalex.org/I67900169"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyeon Han","raw_affiliation_strings":["School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5212-2072","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronics Engineering, Chung-Ang University, Seoul, South Korea","institution_ids":["https://openalex.org/I67900169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100748588","display_name":"Sangyeob Kim","orcid":"https://orcid.org/0000-0002-1783-5296"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangyeob Kim","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1783-5296","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111145663","display_name":"Hongseok Lee","orcid":"https://orcid.org/0009-0008-1668-9822"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hongseok Lee","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0009-0008-1668-9822","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077896259","display_name":"Hoi\u2010Jun Yoo","orcid":"https://orcid.org/0000-0002-6661-4879"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoi-Jun Yoo","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6661-4879","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.362,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.56250954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"61","issue":"6","first_page":"3032","last_page":"3044"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9902999997138977,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9902999997138977,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.988099992275238,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.6086000204086304},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.5774999856948853},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4659999907016754},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.43790000677108765},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41179999709129333},{"id":"https://openalex.org/keywords/multi-core-processor","display_name":"Multi-core processor","score":0.39320001006126404},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.3792000114917755},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.3546999990940094},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3433000147342682}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7958999872207642},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6086000204086304},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.5774999856948853},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4659999907016754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4507000148296356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4478999972343445},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41179999709129333},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40860000252723694},{"id":"https://openalex.org/C78766204","wikidata":"https://www.wikidata.org/wiki/Q555032","display_name":"Multi-core processor","level":2,"score":0.39320001006126404},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.3792000114917755},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3433000147342682},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.329800009727478},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C2776821279","wikidata":"https://www.wikidata.org/wiki/Q2293902","display_name":"Mobile mapping","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2775000035762787},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.27720001339912415},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.26930001378059387},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.2621000111103058},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jssc.2025.3610931","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jssc.2025.3610931","pdf_url":null,"source":{"id":"https://openalex.org/S83637746","display_name":"IEEE Journal of Solid-State Circuits","issn_l":"0018-9200","issn":["0018-9200","1558-173X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Solid-State Circuits","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1990129270","https://openalex.org/W2108134361","https://openalex.org/W2461937780","https://openalex.org/W2561115355","https://openalex.org/W2594519801","https://openalex.org/W2890660991","https://openalex.org/W2922127512","https://openalex.org/W2971714504","https://openalex.org/W3005875844","https://openalex.org/W3048951516","https://openalex.org/W3116307730","https://openalex.org/W3184625192","https://openalex.org/W3186141314","https://openalex.org/W3203806429","https://openalex.org/W3205734594","https://openalex.org/W4247250903","https://openalex.org/W4307783807","https://openalex.org/W4313535655","https://openalex.org/W4385063029","https://openalex.org/W4400526344","https://openalex.org/W4402302356","https://openalex.org/W4402698358","https://openalex.org/W4404954627"],"related_works":[],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,9,28,41,105,113,137,157,164,171],"mapping":[3,27,114,174,229],"(SLAM)":[4],"provides":[5],"crucial":[6],"ego-pose":[7],"information":[8],"3-D":[10,26,53,93],"maps":[11,54],"of":[12],"the":[13,73,120],"user":[14],"environment,":[15],"which":[16],"are":[17,32,48],"fundamental":[18],"to":[19,51,56,100,210],"emerging":[20],"mobile":[21,60,97],"spatial":[22],"computing":[23],"devices.":[24],"Dense":[25],"accurate":[29],"pose":[30],"estimation":[31],"particularly":[33],"necessary":[34],"for":[35,91,96,131,222,228],"applications":[36],"like":[37],"augmented":[38],"reality":[39],"(AR)":[40],"autonomous":[42],"navigation.":[43],"However,":[44],"existing":[45],"SLAM":[46,70,213],"processors":[47],"typically":[49],"limited":[50],"sparse":[52,77,144],"due":[55,99],"constrained":[57],"resources":[58],"in":[59,190],"settings.":[61],"This":[62],"article":[63],"presents":[64],"space-mate,":[65],"a":[66,76,88,116,191,202],"low-power,":[67],"real-time":[68],"dense":[69,92],"processor.":[71],"At":[72],"algorithm":[74],"level,":[75],"mixture-of-experts":[78],"(SMoE)":[79],"based":[80],"neural":[81],"radiance":[82],"field":[83],"(NeRF)":[84],"is":[85],"introduced":[86],"as":[87],"novel":[89],"representation":[90],"mapping,":[94],"optimized":[95],"devices":[98],"its":[101],"reduced":[102],"computational":[103],"complexity":[104],"compact":[106],"map":[107],"size.":[108],"Space-mate":[109],"executes":[110],"both":[111],"tracking":[112,223],"on":[115],"unified":[117],"hardware":[118],"with":[119,184],"following":[121],"optimizations:":[122],"1)":[123],"out-of-order":[124],"SMoE":[125],"(OoO-SMoE)":[126],"router":[127],"schedules":[128],"MLP":[129,149],"operations":[130],"multiple":[132],"experts,":[133],"enabling":[134],"multi-batch":[135],"processing":[136],"reducing":[138,180],"data":[139],"transactions;":[140],"2)":[141],"heterogeneous":[142],"coarse-grained":[143],"core":[145],"(HCG-SC)":[146],"accelerates":[147],"various":[148],"training":[150],"stages,":[151],"including":[152],"feed-forward":[153],"(FF),":[154],"back-propagation":[155],"(BP),":[156],"weight-gradient":[158],"(WG)":[159],"calculation,":[160],"enhancing":[161],"energy":[162,181,234],"efficiency;":[163],"3)":[165],"2-D":[166],"sampling":[167],"unit":[168],"(2D-SU)":[169],"predicts":[170],"removes":[172],"unnecessary":[173],"workload":[175],"through":[176],"loss":[177],"prediction,":[178],"significantly":[179],"per":[182,220,235],"frame":[183,221],"minimal":[185],"accuracy":[186],"loss.":[187],"Space-mate,":[188],"fabricated":[189],"28-nm":[192],"process,":[193],"achieves":[194],"32.85":[195],"frames/s":[196],"at":[197],"303.5-mW":[198],"power":[199],"consumption":[200],"under":[201],"125":[203],"MHz,":[204],"0.83":[205],"V":[206],"operating":[207],"condition.":[208],"Compared":[209],"prior":[211],"state-of-the-art":[212],"ASICs,":[214],"space-mate":[215],"processes$30.72\\times":[216],"$\u2013$930.9\\times":[217],"$more":[218,226],"points":[219,227],"and$4.8\\times":[224],"$\u2013$7.2\\times":[225],"while":[230],"consuming$2\\times":[231],"$\u2013$15.4\\times":[232],"$less":[233],"pixel.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-28T00:00:00"}
