An Energy-Efficient Field-Programmable Gate Array (FPGA) Implementation of a Real-Time Perspective-n-Point Solver

Solving the Perspective-n-Point (PnP) problem is difficult in low-power systems due to the high computing workload. To handle this challenge, we present an originally designed FPGA implementation of a PnP solver based on Vivado HLS. A matrix operation library and a matrix decomposition library based...

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Bibliographic Details
Published in:Electronics (Basel) Vol. 13; no. 19; p. 3815
Main Authors: Lv, Haobo, Wu, Qiongzhi
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.10.2024
Subjects:
Accuracy
Algorithms
Cameras
Data points
Decomposition
Design
Digital integrated circuits
Eigenvalues
Electric power systems
Embedded systems
Energy consumption
Energy efficiency
Energy use
Field programmable gate arrays
Iterative methods
Mathematical optimization
Methods
Noise levels
Optimization techniques
Pipelining (computers)
Power consumption
Power management
Signal to noise ratio
Software
Solvers
ISSN:2079-9292, 2079-9292
Online Access:Get full text
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Description
Summary:Solving the Perspective-n-Point (PnP) problem is difficult in low-power systems due to the high computing workload. To handle this challenge, we present an originally designed FPGA implementation of a PnP solver based on Vivado HLS. A matrix operation library and a matrix decomposition library based on QR decomposition have been developed, upon which the EPnP algorithm has been implemented. To enhance the operational speed of the system, we employed pipeline optimization techniques and adjusted the computational process to shorten the calculation time. The experimental results show that when the number of input data points is 300, the proposed system achieves a processing speed of 45.2 fps with a power consumption of 1.7 W and reaches a peak-signal-to-noise ratio of over 70 dB. Our system consumes only 3.9% of the power consumption per calculation compared to desktop-level processors. The proposed system significantly reduces the power consumption required for the PnP solution and is suitable for application in low-power systems.
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ISSN:2079-9292
2079-9292
DOI:10.3390/electronics13193815