Evaluation of an OpenCL-Based FPGA Platform for Particle Filter
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- Tatsumi Shunsuke
- Graduate School of Information Sciences, Tohoku University
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- Hariyama Masanori
- Graduate School of Information Sciences, Tohoku University
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- Ikoma Norikazu
- Faculty of Engineering, Nippon Institute of Technology
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Abstract
<p>Particle filter is one promising method to estimate the internal states in dynamical systems, and can be used for various applications such as visual tracking and mobile-robot localization. The major drawback of particle filter is its large computational amount, which causes long computational-time and large power-consumption. In order to solve this problem, this paper proposes an Field-Programmable Gate Array (FPGA) platform for particle filter. The platform is designed using the OpenCL-based design tool that allows users to develop using a high-level programming language based on C and to change designs easily for various applications. The implementation results demonstrate the proposed FPGA implementation is 106 times faster than the CPU one, and the power-delay product of the FPGA implementation is 1.1% of the CPU one. Moreover, implementations for three different systems are shown to demonstrate flexibility of the proposed platform.</p>
Journal
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- Journal of Advanced Computational Intelligence and Intelligent Informatics
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Journal of Advanced Computational Intelligence and Intelligent Informatics 20 (5), 743-754, 2016-09-20
Fuji Technology Press Ltd.
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Details 詳細情報について
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- CRID
- 1390564238103235200
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- NII Article ID
- 130007673350
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- NII Book ID
- AA12042502
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- ISSN
- 18838014
- 13430130
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- NDL BIB ID
- 027654692
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed