{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00240661","sets":["1164:2822:11469:11788"]},"path":["11788"],"owner":"44499","recid":"240661","title":["高位合成によるLSD-SLAMにおけるTrackingの高速化の検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-11-13"},"_buckets":{"deposit":"7a3e78de-0ff1-41b7-9c18-506e97e8f916"},"_deposit":{"id":"240661","pid":{"type":"depid","value":"240661","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"高位合成によるLSD-SLAMにおけるTrackingの高速化の検討","author_link":["660688","660687","660685","660686"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"高位合成によるLSD-SLAMにおけるTrackingの高速化の検討"},{"subitem_title":"A design of High-Level Synthesis to accelerate Tracking in LSD-SLAM","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"リアルタイム・高速化","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-11-13","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"苫小牧工業高等専門学校"},{"subitem_text_value":"苫小牧工業高等専門学校"},{"subitem_text_value":"苫小牧工業高等専門学校"},{"subitem_text_value":"苫小牧工業高等専門学校"}]},"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/240661/files/IPSJ-EMB24067003.pdf","label":"IPSJ-EMB24067003.pdf"},"date":[{"dateType":"Available","dateValue":"2026-11-13"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-EMB24067003.pdf","filesize":[{"value":"1.5 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"42"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"4fdc20ca-3404-4830-8404-6f97739fcd11","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"岡田, 航季"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"山本, 椋太"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"稲川, 清"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"三上, 剛"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12149313","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":"2188-868X","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"近年，自律移動ロボットの普及や自動運転技術が注目されており，自己位置推定と環境地図構築を同時に行う SLAM が重要な技術となっている．中でも，単眼カメラを使用する SLAM の 1 つである CNN-SLAM は，画像の輝度を直接利用するため，特徴点を利用する手法と比べて密な地図を作成でき，精度が高い．また，CNN を用いて深度を推定することができ，位置関係の大きさが定まる利点がある．しかし，演算量が多く，かつ膨大なメモリ容量の要求からリソース制約の厳しいデバイスへの実装が困難であった．そこで，本研究では CNN-SLAM の拡張元である LSD-SLAM に対し FPGA を用いて Tracking の高速化を行う．設計にはシステムレベル設計ツールの SystemBuilder を用いて高位合成によって低消費電力かつ高速な設計を目指す．C 記述レベルで高速化を試み，レイテンシおよびリソース使用量を計測する．また，GPU 向け実装も行い，比較する．将来的に，本研究の知見から，CNN-SLAM の高速化を目指す．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告組込みシステム（EMB）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-11-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicVolumeNumber":"2024-EMB-67"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"created":"2025-01-19T01:44:59.002639+00:00","updated":"2025-01-19T07:54:22.696714+00:00","id":240661}