A High Speed and Low Complexity Architecture Design Methodology for Square Root Unscented Kalman Filter based SLAM

Dutt, Rashi and Acharyya, Amit (2020) A High Speed and Low Complexity Architecture Design Methodology for Square Root Unscented Kalman Filter based SLAM. In: ECCTD 2020 - 24th IEEE European Conference on Circuit Theory and Design, 7-10 September 2020.

Full text not available from this repository. (Request a copy)


Square Root Unscented Kalman Filter (SRUKF) provides a practical solution for highly nonlinear and critical applications such as Simultaneous Localization and Mapping (SLAM). It improves the stability of the system, at the same time enhancing the numerical accuracy for hardware platform. It is less computationally demanding than the Unscented Kalman Filter (UKF), however, the hardware development process remains a complex task with high resource utilization. This paper presents a Householder CORDIC based low complexity architecture design for SRUKF targeting the highly nonlinear SLAM application. A hardware-software co-design methodology is proposed and implemented on Zynq-7000 XC7Z020 FPGA. Synthesis results show that the architecture saves 91% of DSP cores and is 20% faster than the state-of-the-art UKF architecture. The proposed SRUKF is also highly stable and achieve 78% and 10% greater accuracy than EKF SLAM and UKF SLAM respectively.

[error in script]
IITH Creators:
IITH CreatorsORCiD
Acharyya, Amithttp://orcid.org/0000-0002-5636-0676
Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Co-design methodology; Critical applications; Hardware development; Low-complexity architecture; Resource utilizations; Simultaneous localization and mapping; Square root unscented Kalman filter; Unscented Kalman Filter; Circuit theory; Design; Hardware-software codesign; System stability
Subjects: Electrical Engineering
Electrical Engineering > Electrical and Electronic
Divisions: Department of Electrical Engineering
Depositing User: . LibTrainee 2021
Date Deposited: 22 Jun 2021 06:38
Last Modified: 22 Jun 2021 06:38
URI: http://raiith.iith.ac.in/id/eprint/7976
Publisher URL: http://doi.org/10.1109/ECCTD49232.2020.9218287
Related URLs:

Actions (login required)

View Item View Item
Statistics for RAIITH ePrint 7976 Statistics for this ePrint Item