Embbedded System-on-Chip 3D Localization and Mapping—eSoC-SLAM

This paper discusses a novel embedded system-on-chip 3D localization and mapping (eSoC-LAM) implementation, that followed co-design approach with the primary aim of being deployed in small system on programmable chip (SoPC), Intel’s (a.k.a Altera) Cyclone V 5CSEMA5F31C6N, available Terasic’s board DE1-SoC. computer incorporates an 800 MHz Dual-core ARM Cortex-A9 FPGA 85k logic elements 4450 Kbits memory running at 50 MHz. We report experiments eSoC-LAM implementation using Robosense’s LiDAR RS-16 sensor Robotis’ TurtleBot2 differential robot, both controlled by presents comprehensive description designed architecture, design constraints, resource optimization, HPS-FPGA exchange information, results. The reached average speed-up 6.5× when compared version algorithm hard processor device, performance nearly 32 fps, while keeping high map accuracy.