{"id":"https://openalex.org/W4291653117","doi":"https://doi.org/10.1109/tcsii.2022.3198759","title":"A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA","display_name":"A Reconfigurable Coprocessor for Simultaneous Localization and Mapping Algorithms in FPGA","publication_year":2022,"publication_date":"2022-08-15","ids":{"openalex":"https://openalex.org/W4291653117","doi":"https://doi.org/10.1109/tcsii.2022.3198759"},"language":"en","primary_location":{"id":"doi:10.1109/tcsii.2022.3198759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2022.3198759","pdf_url":null,"source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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 Transactions on Circuits and Systems II: Express Briefs","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/A5056333723","display_name":"Yonghao Tan","orcid":"https://orcid.org/0000-0001-5372-5863"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yonghao Tan","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065507990","display_name":"Huanshihong Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanshihong Deng","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029818822","display_name":"Mengying Sun","orcid":"https://orcid.org/0000-0002-1137-7546"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengying Sun","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049953156","display_name":"Minghao Zhou","orcid":"https://orcid.org/0000-0001-8384-568X"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghao Zhou","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100606729","display_name":"Yifei Chen","orcid":"https://orcid.org/0000-0003-2212-4808"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifei Chen","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333431","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0001-9936-3319"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Chen","raw_affiliation_strings":["School of Microelectronics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115076700","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0003-4887-923X"},"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":["School of Optical and Electronic Information Education, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Optical and Electronic Information Education, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069123107","display_name":"Fengwei An","orcid":"https://orcid.org/0000-0002-7554-7938"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengwei An","raw_affiliation_strings":["School of Microelectronics and the Engineering Research Center of Integrated Circuits for Next-Generation Communications, Ministry of Education, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Microelectronics and the Engineering Research Center of Integrated Circuits for Next-Generation Communications, Ministry of Education, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5056333723"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":5.1627,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.94974805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"70","issue":"1","first_page":"286","last_page":"290"},"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":0.9969000220298767,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/coprocessor","display_name":"Coprocessor","score":0.8401718139648438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8041059970855713},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7627542018890381},{"id":"https://openalex.org/keywords/floating-point","display_name":"Floating point","score":0.6113008260726929},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5914700031280518},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5401998162269592},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5062793493270874},{"id":"https://openalex.org/keywords/reconfigurable-computing","display_name":"Reconfigurable computing","score":0.4927814304828644},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4647018313407898},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4307498633861542},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.42085155844688416},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.39916372299194336},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3930714726448059},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3913378119468689},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.3812389373779297},{"id":"https://openalex.org/keywords/computer-engineering","display_name":"Computer engineering","score":0.36142992973327637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24576407670974731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2444288730621338},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09444156289100647}],"concepts":[{"id":"https://openalex.org/C86111242","wikidata":"https://www.wikidata.org/wiki/Q859595","display_name":"Coprocessor","level":2,"score":0.8401718139648438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8041059970855713},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7627542018890381},{"id":"https://openalex.org/C84211073","wikidata":"https://www.wikidata.org/wiki/Q117879","display_name":"Floating point","level":2,"score":0.6113008260726929},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5914700031280518},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5401998162269592},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5062793493270874},{"id":"https://openalex.org/C142962650","wikidata":"https://www.wikidata.org/wiki/Q240838","display_name":"Reconfigurable computing","level":3,"score":0.4927814304828644},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4647018313407898},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4307498633861542},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.42085155844688416},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.39916372299194336},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3930714726448059},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3913378119468689},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.3812389373779297},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.36142992973327637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24576407670974731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2444288730621338},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09444156289100647},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsii.2022.3198759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsii.2022.3198759","pdf_url":null,"source":{"id":"https://openalex.org/S93916849","display_name":"IEEE Transactions on Circuits & Systems II Express Briefs","issn_l":"1549-7747","issn":["1549-7747","1558-3791"],"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 Transactions on Circuits and Systems II: Express Briefs","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1655718703","display_name":null,"funder_award_id":"K2021390007","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G315899577","display_name":null,"funder_award_id":"JSGG20200102162401765","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G604462340","display_name":null,"funder_award_id":"K2021390006","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"}],"funders":[{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1986611231","https://openalex.org/W2101489562","https://openalex.org/W2115452265","https://openalex.org/W2149792149","https://openalex.org/W2357545926","https://openalex.org/W2558721066","https://openalex.org/W2592677049","https://openalex.org/W2744976044","https://openalex.org/W2768018028","https://openalex.org/W2970143800","https://openalex.org/W3212920529","https://openalex.org/W4200529193","https://openalex.org/W4221140087","https://openalex.org/W4246614213"],"related_works":["https://openalex.org/W2370279919","https://openalex.org/W2152301037","https://openalex.org/W2094210932","https://openalex.org/W1836109266","https://openalex.org/W2384717171","https://openalex.org/W2145667950","https://openalex.org/W2027246841","https://openalex.org/W2163928768","https://openalex.org/W1980352715","https://openalex.org/W2051687644"],"abstract_inverted_index":{"Much":[0],"effort":[1],"overlaps":[2],"in":[3,58,90,108],"designing":[4],"different":[5,9],"hardware":[6,100],"to":[7,29,50,62,79,97],"implement":[8],"Simultaneous":[10],"localization":[11],"and":[12,83,92,103],"mapping":[13],"(SLAM)":[14],"algorithms.":[15],"In":[16],"this":[17],"brief,":[18],"a":[19,35,55],"reconfigurable":[20],"architecture":[21],"with":[22],"dedicated":[23],"instruction":[24],"sets":[25],"allows":[26],"the":[27,31,39,64,87,98,109],"coprocessor":[28],"satisfy":[30],"pose":[32,88],"estimation":[33,89],"of":[34,38],"sample":[36],"class":[37],"SLAM":[40],"algorithms,":[41],"feature-based":[42],"or":[43],"learning-based":[44],"methods,":[45],"which":[46],"can":[47],"be":[48],"decomposed":[49],"basic":[51],"common":[52],"operations.":[53,71],"Furthermore,":[54],"memory-reused":[56],"strategy":[57],"instructions":[59],"was":[60],"designed":[61],"avoid":[63],"demand":[65],"for":[66,69],"temporary":[67],"memory":[68,104],"complex":[70],"Finally,":[72],"two":[73],"parallel":[74],"computing":[75],"cores":[76],"are":[77],"implemented":[78],"perform":[80],"matrix":[81],"operations":[82],"special":[84],"computation":[85],"about":[86],"floating-point":[91],"fixed-point":[93],"arithmetic.":[94],"These":[95],"contribute":[96],"low":[99],"resource":[101],"usage":[102],"requirement,":[105],"as":[106],"illustrated":[107],"experimental":[110],"results.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
