DocumentCode :
2909568
Title :
Natural Feature Tracking on the OPERA Maestro platform
Author :
Gallagher, Timothy ; Weiss, Saul H. ; Hahn, Jessica
Author_Institution :
Lockheed Martin Space Syst. Co., Denver, CO, USA
fYear :
2011
fDate :
5-12 March 2011
Firstpage :
1
Lastpage :
7
Abstract :
This paper will present the results of porting the Extended Kalman Filter (EKF) Simultaneous Localization and Mapping (SLAM) Natural Feature Tracking (NFT) algorithm using the Automatically Tunable Linear Algebra System (ATLAS) for use in Tilera´s Tile64 or OPERA´s Radiation-Hardened By Design (RHBD) Maestro chip. 12This implementation of EKF SLAM was previously analyzed for performance on a RAD750 but performance limitations imposed by the platform raised concerns over the ability to operate at high rates while providing acceptable accuracies as target complexity increased in scale. The Maestro chip is being developed by the U.S. Government under the On-board Processing Expandable Reconfigurable Architecture (OPERA) program. OPERA is based on the Tilera´s commercial Tile64 chip with the addition of a floating point unit to each core.
Keywords :
Kalman filters; SLAM (robots); floating point arithmetic; linear algebra; microprocessor chips; multiprocessing systems; reconfigurable architectures; EKF SLAM; Maestro chip; OPERA radiation hardened by design; RAD750; Tilera Tile64 chip; U.S. Government; automatically tunable linear algebra system; extended Kalman filter; floating point unit; natural feature tracking; on-board processing expandable reconfigurable architecture; simultaneous localization and mapping; Algorithm design and analysis; Benchmark testing; Feature extraction; Libraries; Simultaneous localization and mapping; Software; Tiles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Aerospace Conference, 2011 IEEE
Conference_Location :
Big Sky, MT
ISSN :
1095-323X
Print_ISBN :
978-1-4244-7350-2
Type :
conf
DOI :
10.1109/AERO.2011.5747453
Filename :
5747453
Link To Document :
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