CUED Publications database

Heterogeneous reconfigurable system for adaptive particle filters in real-time applications

Chau, TCP and Niu, X and Eele, A and Luk, W and Cheung, PYK and Maciejowski, J (2013) Heterogeneous reconfigurable system for adaptive particle filters in real-time applications. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 7806 L. pp. 1-12. ISSN 0302-9743

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Abstract

This paper presents a heterogeneous reconfigurable system for real-time applications applying particle filters. The system consists of an FPGA and a multi-threaded CPU. We propose a method to adapt the number of particles dynamically and utilise the run-time reconfigurability of the FPGA for reduced power and energy consumption. An application is developed which involves simultaneous mobile robot localisation and people tracking. It shows that the proposed adaptive particle filter can reduce up to 99% of computation time. Using run-time reconfiguration, we achieve 34% reduction in idle power and save 26-34% of system energy. Our proposed system is up to 7.39 times faster and 3.65 times more energy efficient than the Intel Xeon X5650 CPU with 12 threads, and 1.3 times faster and 2.13 times more energy efficient than an NVIDIA Tesla C2070 GPU. © 2013 Springer-Verlag.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 12:16
Last Modified: 08 Dec 2014 02:21
DOI: 10.1007/978-3-642-36812-7_1