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Eventor: an efficient event-based monocular multi-view stereo accelerator on FPGA platform

Authors:

Weisheng ZhaoAuthors Info & Claims

DAC '22: Proceedings of the 59th ACM/IEEE Design Automation Conference

Pages 331 - 336

https://doi.org/10.1145/3489517.3530452

Published: 23 August 2022 Publication History

Abstract

Event cameras are bio-inspired vision sensors that asynchronously represent pixel-level brightness changes as event streams. Event-based monocular multi-view stereo (EMVS) is a technique that exploits the event streams to estimate semi-dense 3D structure with known trajectory. It is a critical task for event-based monocular SLAM. However, the required intensive computation workloads make it challenging for real-time deployment on embedded platforms. In this paper, Eventor is proposed as a fast and efficient EMVS accelerator by realizing the most critical and time-consuming stages including event back-projection and volumetric ray-counting on FPGA. Highly paralleled and fully pipelined processing elements are specially designed via FPGA and integrated with the embedded ARM as a heterogeneous system to improve the throughput and reduce the memory footprint. Meanwhile, the EMVS algorithm is reformulated to a more hardware-friendly manner by rescheduling, approximate computing and hybrid data quantization. Evaluation results on DAVIS dataset show that Eventor achieves up to 24X improvement in energy efficiency compared with Intel i5 CPU platform.

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Cited By

Zhou AYang JQi YQiao TShi YDuan CZhao WHu C(2024) HGNAS: H ardware-Aware G raph N eural A rchitecture S earch for Edge Devices IEEE Transactions on Computers10.1109/TC.2024.344910873:12(2693-2707)Online publication date: Dec-2024
https://doi.org/10.1109/TC.2024.3449108
Kryjak T(2024)Event-Based Vision on FPGAs - a Survey2024 27th Euromicro Conference on Digital System Design (DSD)10.1109/DSD64264.2024.00078(541-550)Online publication date: 28-Aug-2024
https://doi.org/10.1109/DSD64264.2024.00078
Li DFeng XShen CChen QYang LQiu SJin XLiu M(2023)Vector-Based Dedicated Processor Architecture for Efficient Tracking in VSLAM SystemsIEEE Embedded Systems Letters10.1109/LES.2023.329890015:4(182-185)Online publication date: 25-Sep-2023
https://dl.acm.org/doi/10.1109/LES.2023.3298900
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cover image ACM Conferences

DAC '22: Proceedings of the 59th ACM/IEEE Design Automation Conference

July 2022

1462 pages

ISBN:9781450391429

DOI:10.1145/3489517

General Chair:
Rob Oshana
NXP

Copyright © 2022 ACM.

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IEEE CEDA

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New York, NY, United States

Publication History

Published: 23 August 2022

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DAC '22

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SIGDA

DAC '22: 59th ACM/IEEE Design Automation Conference

July 10 - 14, 2022

California, San Francisco

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Overall Acceptance Rate 1,770 of 5,499 submissions, 32%

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DAC '25

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62nd ACM/IEEE Design Automation Conference

June 22 - 26, 2025

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Cited By

Zhou AYang JQi YQiao TShi YDuan CZhao WHu C(2024) HGNAS: H ardware-Aware G raph N eural A rchitecture S earch for Edge Devices IEEE Transactions on Computers10.1109/TC.2024.344910873:12(2693-2707)Online publication date: Dec-2024
https://doi.org/10.1109/TC.2024.3449108
Kryjak T(2024)Event-Based Vision on FPGAs - a Survey2024 27th Euromicro Conference on Digital System Design (DSD)10.1109/DSD64264.2024.00078(541-550)Online publication date: 28-Aug-2024
https://doi.org/10.1109/DSD64264.2024.00078
Li DFeng XShen CChen QYang LQiu SJin XLiu M(2023)Vector-Based Dedicated Processor Architecture for Efficient Tracking in VSLAM SystemsIEEE Embedded Systems Letters10.1109/LES.2023.329890015:4(182-185)Online publication date: 25-Sep-2023
https://dl.acm.org/doi/10.1109/LES.2023.3298900
Kalra S(2023)Effective Co-Segmentation and Data Augmentation for Unsupervised Multi-View Stereo2023 2nd International Conference on Futuristic Technologies (INCOFT)10.1109/INCOFT60753.2023.10425573(1-6)Online publication date: 24-Nov-2023
https://doi.org/10.1109/INCOFT60753.2023.10425573
Yan GLiu XWang HHa Y(2023)Fast FPGA Accelerator of Graph Cut Algorithm with Out-of-order Parallel Execution in Folding Grid Architecture2023 60th ACM/IEEE Design Automation Conference (DAC)10.1109/DAC56929.2023.10247784(1-6)Online publication date: 9-Jul-2023
https://doi.org/10.1109/DAC56929.2023.10247784

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