{"id":225396,"updated":"2025-01-19T12:49:34.986440+00:00","links":{},"created":"2025-01-19T01:24:54.488583+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00225396","sets":["1164:1579:11081:11179"]},"path":["11179"],"owner":"44499","recid":"225396","title":["Jetson Xavier NXにおけるORB-SLAM3の低消費電力化の検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-16"},"_buckets":{"deposit":"69967148-8ee3-41e0-837f-f7324ab038bf"},"_deposit":{"id":"225396","pid":{"type":"depid","value":"225396","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"Jetson Xavier NXにおけるORB-SLAM3の低消費電力化の検討","author_link":["596268","596271","596272","596273","596276","596278","596270","596274","596275","596277","596269","596267"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Jetson Xavier NXにおけるORB-SLAM3の低消費電力化の検討"},{"subitem_title":"Preliminary Evaluation of Low Power Optimized ORB-SLAM3 on Jetson Xavier NX","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"性能評価","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2023-03-16","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"オスカーテクノロジー株式会社"},{"subitem_text_value":"オスカーテクノロジー株式会社"},{"subitem_text_value":"株式会社エヌエスアイテクス"},{"subitem_text_value":"早稲田大学"},{"subitem_text_value":"早稲田大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Oscar Technology Corporation","subitem_text_language":"en"},{"subitem_text_value":"Oscar Technology Corporation","subitem_text_language":"en"},{"subitem_text_value":"NSITEXE,Inc.","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"},{"subitem_text_value":"Waseda University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/225396/files/IPSJ-ARC23252009.pdf","label":"IPSJ-ARC23252009.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC23252009.pdf","filesize":[{"value":"1.4 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"16"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"2ba4a884-d8b8-4632-96c8-c955a9c7ab15","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2023 by the Institute of Electronics, Information and Communication Engineers This SIG report is only available to those in membership of the SIG."}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"林, 頼人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"見神, 広紀"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"納富, 昭"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村, 貞弘"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村, 啓二"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"笠原, 博徳"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Raito, Hayashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroki, Mikami","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Akira, Nodomi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Sadahiro, Kimura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Keiji, Kimura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hironori, Kasahara","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10096105","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8574","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"環境地図の作成を行いながら自己位置の推定を行う SLAM は，自動車の自動運転やロボットの制御に必須の技術である．これらの機器が適切に制御されるためには，ある一定時間内に SLAM 処理を可能とするだけの計算能力が必要である．その一方で，これらの機器は設置スペースやバッテリ能力が制限されていることが多く，低消費電力化も重要な課題となっている．本稿では，SLAM 処理の代表的な実装の一つである ORB-SLAM3 に対して，その中の主要処理の一つであるトラッキングに着目し，本トラッキング処理に要する時間を処理中に得られた値から推定し，推定コストにより CPU の適切な動作周波数・動作電圧を設定する手法を提案する．そして，本手法を並列化した ORB-SLAM3 に実装し，Nvidia 製の組み込み SoC ボードである Jetson Xavier NX 上で評価した結果について報告する．制限時間を超過したフレーム数と消費電力を評価した結果，提案手法は Linux 標準の電力制御ガバナである Performance に比較して 71.8% の消費電力で同等の超過フレーム数を達成し，また Ondemand ガバナと比較して 86.6%の消費電力で 99.2% の超過フレーム数削減を達成できた．さらに，提案手法を加重移動平均（WMA）予測器による制御と比較して，提案手法は 90.5% の消費電力で同等の超過フレーム数を達成した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告システム・アーキテクチャ（ARC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2023-03-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"9","bibliographicVolumeNumber":"2023-ARC-252"}]},"relation_version_is_last":true,"weko_creator_id":"44499"}}