{"id":"https://openalex.org/W4312121028","doi":"https://doi.org/10.1145/3508352.3561110","title":"A Reconfigurable Hardware Library for Robot Scene Perception","display_name":"A Reconfigurable Hardware Library for Robot Scene Perception","publication_year":2022,"publication_date":"2022-10-30","ids":{"openalex":"https://openalex.org/W4312121028","doi":"https://doi.org/10.1145/3508352.3561110"},"language":"en","primary_location":{"id":"doi:10.1145/3508352.3561110","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3508352.3561110","pdf_url":null,"source":{"id":"https://openalex.org/S4363608844","display_name":"Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design","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":"Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design","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/A5100724299","display_name":"Yanqi Liu","orcid":"https://orcid.org/0000-0001-9968-979X"},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yanqi Liu","raw_affiliation_strings":["Brown University"],"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006804543","display_name":"Anthony W. Opipari","orcid":"https://orcid.org/0000-0002-4093-302X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Opipari","raw_affiliation_strings":["University of Michigan"],"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071106238","display_name":"Odest Chadwicke Jenkins","orcid":"https://orcid.org/0000-0003-3750-7334"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Odest Chadwicke Jenkins","raw_affiliation_strings":["University of Michigan"],"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047635410","display_name":"R. Iris Bahar","orcid":"https://orcid.org/0000-0001-6927-8527"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Iris Bahar","raw_affiliation_strings":["Colorado School of Mines"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines","institution_ids":["https://openalex.org/I167576493"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100724299"],"corresponding_institution_ids":["https://openalex.org/I175594653"],"apc_list":null,"apc_paid":null,"fwci":0.06,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.30471981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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":0.9954000115394592,"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":0.9954000115394592,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9936000108718872,"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":0.9925000071525574,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hardware-acceleration","display_name":"Hardware acceleration","score":0.7882798314094543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7745800018310547},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.7224512696266174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.653754472732544},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5632282495498657},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5154622197151184},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4828075170516968},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4658409357070923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4418971538543701},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4362654983997345},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.39620620012283325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36293768882751465},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3451910614967346}],"concepts":[{"id":"https://openalex.org/C13164978","wikidata":"https://www.wikidata.org/wiki/Q600158","display_name":"Hardware acceleration","level":3,"score":0.7882798314094543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7745800018310547},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.7224512696266174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.653754472732544},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5632282495498657},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5154622197151184},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4828075170516968},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4658409357070923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4418971538543701},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4362654983997345},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.39620620012283325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36293768882751465},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3451910614967346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3508352.3561110","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3508352.3561110","pdf_url":null,"source":{"id":"https://openalex.org/S4363608844","display_name":"Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design","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":"Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6754846542","display_name":null,"funder_award_id":"2128036","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320314786","display_name":"Xilinx","ror":"https://ror.org/01rb7bk56"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1969934852","https://openalex.org/W2011261699","https://openalex.org/W2068815508","https://openalex.org/W2900024898","https://openalex.org/W2900218360","https://openalex.org/W2930166203","https://openalex.org/W2946148408","https://openalex.org/W3004136920","https://openalex.org/W3012304670","https://openalex.org/W4253459495"],"related_works":["https://openalex.org/W2111241003","https://openalex.org/W4200391368","https://openalex.org/W2210979487","https://openalex.org/W2074043759","https://openalex.org/W2123263858","https://openalex.org/W3042736233","https://openalex.org/W2536898772","https://openalex.org/W2146872326","https://openalex.org/W2518118925","https://openalex.org/W3159273459"],"abstract_inverted_index":{"Perceiving":[0],"the":[1,52],"position":[2],"and":[3,30,72,108],"orientation":[4],"of":[5,55],"objects":[6],"(i.e.,":[7],"pose":[8,34],"estimation)":[9],"is":[10,61],"a":[11,23,69,84],"crucial":[12],"prerequisite":[13],"for":[14,36],"robots":[15,37],"acting":[16],"within":[17],"their":[18],"natural":[19],"environment.":[20],"We":[21],"present":[22,83],"hardware":[24,43,95],"acceleration":[25],"approach":[26,60],"to":[27,50,92,104],"enable":[28,93],"real-time":[29],"energy":[31,66],"efficient":[32,67],"articulated":[33,56],"estimation":[35],"operating":[38],"in":[39],"unstructured":[40],"environments.":[41],"Our":[42,59],"accelerator":[44],"implements":[45],"Nonparametric":[46],"Belief":[47],"Propagation":[48],"(NBP)":[49],"infer":[51],"belief":[53],"distribution":[54],"object":[57],"poses.":[58],"on":[62,97],"average,":[63],"26\u00d7":[64],"more":[65],"than":[68,75],"high-end":[70],"GPU":[71,79],"11\u00d7":[73],"faster":[74],"an":[76],"embedded":[77],"low-power":[78],"implementation.":[80],"Moreover,":[81],"we":[82],"Monte-Carlo":[85],"Perception":[86],"Library":[87],"generated":[88],"from":[89],"high-level":[90],"synthesis":[91],"reconfigurable":[94],"designs":[96],"FPGA":[98],"fabrics":[99],"that":[100],"are":[101],"better":[102],"tuned":[103],"user-specified":[105],"scene,":[106],"resource,":[107],"performance":[109],"constraints.":[110]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
