Application d’une méthodologie de co-design à la définition et à l’implémentation d’une chaîne SLAM opérationnelle

Francois Brenot 1
1 LAAS-RAP - Équipe Robotique, Action et Perception
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : In the field of obstacle detection and tracking for vision-based ADAS (Advanced Driver Assistance System), it is necessary to perform short-term vehicle localisation. Vision based SLAM (Simultaneous Localization and Mapping) solves this problem by combining the vehicle state estimation (local pose and speeds) and an incremental modelling of the environment. The environment is perceived by extracting features (interest points) in a sequence of images and tracking them over time to allow an incremental landmarks map construction. The perception step leads to an important computational load which affects very significantly the system latency and throughput. Co-design methodologies allow to design a mixed processing architecture optimized for a specific application In this type of architecture, the use of hardware accelerators allows for great performance increase (throughput, memory size, power consumption). The ZynQ (Xilinx) provides a prototyping mixed-architecture including a dual-core microprocessor combined with configurable hardware resources. The goal of this thesis is to propose a co-design implementation of a vision-based SLAM processing chain involving hardware accelerators for image processing in order to meet the constraints of an embedded ADAS system. The first contribution is the design of a complete 3D EKF-SLAM processing chain thanks to a co-design approach. We defined and validated, according to the followed co-design approach, the choice of a Hardware-in-the-loop (HIL) architecture to validate the different design iterations. The second contribution is the integration of dedicated hardware modules to accelerate the visual perception computations of this processing chain (features detection, description and matching).
Document type :
Automatique / Robotique. INPT, 2016. Français
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Francois Brenot. Application d’une méthodologie de co-design à la définition et à l’implémentation d’une chaîne SLAM opérationnelle. Automatique / Robotique. INPT, 2016. Français. 〈tel-01560812〉



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