{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00225412","sets":["1164:1579:11081:11179"]},"path":["11179"],"owner":"44499","recid":"225412","title":["点群特徴抽出のFPGAによる高速化"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-16"},"_buckets":{"deposit":"b3279032-03f7-4948-acb4-0a28f94b7311"},"_deposit":{"id":"225412","pid":{"type":"depid","value":"225412","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"点群特徴抽出のFPGAによる高速化","author_link":["596347","596346","596345","596348","596344","596343"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"点群特徴抽出のFPGAによる高速化"},{"subitem_title":"On the Acceleration of FPGA-based Point Cloud Feature Extraction\\n","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"FPGA","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":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"},{"subitem_text_value":"慶應義塾大学大学院理工学研究科"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Science and Technology, Keio University","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Science and Technology, Keio 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/225412/files/IPSJ-ARC23252025.pdf","label":"IPSJ-ARC23252025.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ARC23252025.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":"4cb29669-e369-40c2-abb8-ec48997dad6a","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":"杉浦, 圭祐"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小島, 瑠斗"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"松谷, 宏紀"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Keisuke, Sugiura","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ryuto, Kojima","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hiroki, Matsutani","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":"点群特徴抽出は，レジストレーション，SLAM，物体姿勢推定といった，様々なロボットタスクの根幹となる重要な処理である．計算資源の制約，センサの高性能化などから，高速かつ省電力な特徴抽出がより一層求められている．本論文では，最も普及している FPFH (Fast Point Feature Histograms) 特徴量を対象に，専用 IP コアを設計し，Xilinx ZCU104 ボード上に実装する．設計にあたって，アルゴリズムの特性を最大限活用し，ルックアップテーブルの導入，パイプライン化，並列化，ダブルバッファリングなどの様々な最適化を施す．専用 IP コアは ARM Cortex-A53 CPU と比べて最大 4.681倍，また先行研究と比べて 3.935 倍高速に動作し，エネルギー効率を 3.103 倍改善した．実際の点群データセットを用いた評価により，ソフトウェア実装と遜色ない精度で特徴抽出できることを確認した．","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":"25","bibliographicVolumeNumber":"2023-ARC-252"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T12:49:13.298416+00:00","created":"2025-01-19T01:24:55.466228+00:00","links":{},"id":225412}