{"id":"https://openalex.org/W4390693433","doi":"https://doi.org/10.1109/icecs58634.2023.10382726","title":"NORB: A Stream-Based and Non-Blocking FPGA Accelerator for ORB Feature Extraction","display_name":"NORB: A Stream-Based and Non-Blocking FPGA Accelerator for ORB Feature Extraction","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390693433","doi":"https://doi.org/10.1109/icecs58634.2023.10382726"},"language":"en","primary_location":{"id":"doi:10.1109/icecs58634.2023.10382726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icecs58634.2023.10382726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 30th IEEE International Conference on Electronics, Circuits and Systems (ICECS)","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/A5062142229","display_name":"Qixing Zhang","orcid":"https://orcid.org/0000-0002-8784-8674"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qixing Zhang","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026605656","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0003-4518-2533"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016701884","display_name":"Qi Deng","orcid":"https://orcid.org/0000-0002-5150-487X"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Deng","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009559278","display_name":"Heng Yu","orcid":"https://orcid.org/0000-0002-0305-2135"},"institutions":[{"id":"https://openalex.org/I13591777","display_name":"University of Nottingham Ningbo China","ror":"https://ror.org/03y4dt428","country_code":"CN","type":"education","lineage":["https://openalex.org/I13591777","https://openalex.org/I142263535"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Yu","raw_affiliation_strings":["University of Nottingham Ningbo China,School of Computer Science,Ningbo,China","School of Computer Science, University of Nottingham Ningbo China, Ningbo, China"],"affiliations":[{"raw_affiliation_string":"University of Nottingham Ningbo China,School of Computer Science,Ningbo,China","institution_ids":["https://openalex.org/I13591777"]},{"raw_affiliation_string":"School of Computer Science, University of Nottingham Ningbo China, Ningbo, China","institution_ids":["https://openalex.org/I13591777"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084305618","display_name":"Yajun Ha","orcid":"https://orcid.org/0000-0003-4244-5916"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yajun Ha","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,Shanghai,China","Shanghai Engineering Research Center of Energy Efficient and Custom AI IC, Shanghai, China","School of Information Science and Technology, ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,Shanghai,China","institution_ids":["https://openalex.org/I30809798"]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Energy Efficient and Custom AI IC, Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"School of Information Science and Technology, ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062142229"],"corresponding_institution_ids":["https://openalex.org/I30809798"],"apc_list":null,"apc_paid":null,"fwci":0.6141,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70859014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9923999905586243,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/orb","display_name":"Orb (optics)","score":0.9207860231399536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8226934671401978},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.6292589902877808},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.5447226166725159},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4966488480567932},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.4926066994667053},{"id":"https://openalex.org/keywords/blocking","display_name":"Blocking (statistics)","score":0.46386972069740295},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.4543144702911377},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4331146776676178},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.42399245500564575},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3307324945926666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2915039658546448},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16608980298042297},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10192051529884338},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07728773355484009}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.9207860231399536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8226934671401978},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.6292589902877808},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5447226166725159},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4966488480567932},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.4926066994667053},{"id":"https://openalex.org/C144745244","wikidata":"https://www.wikidata.org/wiki/Q4927286","display_name":"Blocking (statistics)","level":2,"score":0.46386972069740295},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.4543144702911377},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4331146776676178},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.42399245500564575},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3307324945926666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2915039658546448},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16608980298042297},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10192051529884338},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07728773355484009},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icecs58634.2023.10382726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icecs58634.2023.10382726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 30th IEEE International Conference on Electronics, Circuits and Systems (ICECS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2117228865","https://openalex.org/W2946669096","https://openalex.org/W3043971245","https://openalex.org/W3216154510","https://openalex.org/W4311839611"],"related_works":["https://openalex.org/W2207584826","https://openalex.org/W3126888753","https://openalex.org/W2959940904","https://openalex.org/W2915603685","https://openalex.org/W3127120538","https://openalex.org/W2392835431","https://openalex.org/W3085248322","https://openalex.org/W2527379740","https://openalex.org/W2389873212","https://openalex.org/W2901045444"],"abstract_inverted_index":{"Oriented":[0],"FAST":[1],"and":[2,14,60,103],"Rotating":[3],"BRIEF":[4],"(ORB)":[5],"is":[6,96,116],"a":[7,73,99,130],"key":[8],"technique":[9],"for":[10,32],"visual":[11],"feature":[12,78],"extraction":[13,79],"matching,":[15],"which":[16,80,115],"forms":[17],"the":[18,21,27,52,57,86,89,104,120],"foundation":[19],"of":[20,46,76,88,113],"state-of-the-art":[22,121],"ORB-SLAM":[23,40],"systems.":[24],"Due":[25],"to":[26,50],"computational":[28],"complexity,":[29],"FPGA":[30],"accelerators":[31,48],"ORB":[33,47,77],"computing":[34,56],"are":[35],"usually":[36],"used":[37],"when":[38,55],"running":[39],"on":[41,65,98],"low-power":[42],"platforms.":[43],"Previous":[44],"implementations":[45],"need":[49],"block":[51],"input":[53],"stream":[54],"rBRIEF":[58],"descriptors,":[59],"cannot":[61],"achieve":[62],"high":[63],"throughput":[64],"all":[66],"pixels.":[67],"In":[68],"this":[69],"paper,":[70],"we":[71],"propose":[72],"stream-based":[74],"accelerator":[75,95],"achieves":[81,109],"non-blocking":[82],"computation":[83],"by":[84],"caching":[85],"columns":[87],"corresponding":[90],"window":[91],"buffer.":[92],"The":[93,127],"proposed":[94],"implemented":[97],"Zynq":[100],"UltraScale":[101],"SoC,":[102],"experimental":[105],"result":[106],"shows":[107],"it":[108],"an":[110],"average":[111],"latency":[112],"1.4ms,":[114],"44%":[117],"faster":[118],"than":[119],"approach,":[122],"with":[123,134],"similar":[124],"output":[125],"accuracy.":[126],"system":[128],"has":[129],"low":[131],"resource":[132],"utilization":[133],"power":[135],"consumption":[136],"being":[137],"only":[138],"1.5W.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}