VSLAM using System on Chip Based Vision

High Speed vSLAM Using System-on-Chip Based Vision

Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle

The use of a multi-camera system enables a robot to obtain a surround view, and thus, maximize its perceptual awareness of its environment. An accurate calibration is a necessary prerequisite if vision-based simultaneous localization and mapping (vSLAM) is expected to provide reliable pose estimates for a micro aerial vehicle (MAV) with a multi-camera system. On our MAV, we set up each camera p...

Original Loop-Closure Detection Algorithm for Monocular vSLAM

Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core post-processing optimization mechanisms in vSLAM, e.g. loop-closure detection. We analyze the existing methods and propose original algorithm for loop-closure dete...

Reliability and Performance Evaluation of Fault-aware Routing Methods for Network-on-Chip Architectures (RESEARCH NOTE)

Nowadays, faults and failures are increasing especially in complex systems such as Network-on-Chip (NoC) based Systems-on-a-Chip due to the increasing susceptibility and decreasing feature sizes. On the other hand, fault-tolerant routing algorithms have an evident effect on tolerating permanent faults and improving the reliability of a Network-on-Chip based system. This paper presents reliabili...

A Routing-Aware Simulated Annealing-based Placement Method in Wireless Network on Chips

Wireless network on chip (WiNoC) is one of the promising on-chip interconnection networks for on-chip system architectures. In addition to wired links, these architectures also use wireless links. Using these wireless links makes packets reach destination nodes faster and with less power consumption. These wireless links are provided by wireless interfaces in wireless routers. The WiNoC archite...