低功耗芯片实现实时3D占位地图构建，适合边缘设备使用。
Gleanmer: A 6 mW SoC for Real-Time 3D Gaussian Occupancy Mapping
- 通过算法硬件协同优化，直接计算高斯占位图并复用数据。
- 构建和查询能耗分别降低63%和81%，功耗低于6毫瓦。
- 16nm工艺下支持每秒88帧图像处理，适合AR/VR等实时场景。
高保真3D占位地图对众多边缘应用（如AR/VR、自主导航）至关重要，但受功耗限制。我们提出Gleanmer，一款集成GMMap加速器的系统级芯片（SoC），该算法利用高斯表示3D占位图。通过算法-硬件协同优化，实现高斯数据的直接计算与高效复用，使地图构建和查询能耗分别降低63%和81%。对高斯进行近似计算进一步减少38%的加速器面积。基于16nm CMOS工艺，Gleanmer在地图构建阶段可实时处理640x480图像，超过88帧/秒；地图查询阶段每秒可处理超54万坐标点。据我们所知，Gleanmer是首个在边缘应用中实现低于6毫瓦功耗的实时3D占位地图构造的已流片芯片。
原文摘要 · Abstract (English)
High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer, a system on chip (SoC) with an accelerator for GMMap, a 3D occupancy map using Gaussians. Through algorithm-hardware co-optimizations for direct computation and efficient reuse of these compact Gaussians, Gleanmer reduces construction and query energy by up to 63% and 81%, respectively. Approximate computation on Gaussians reduces accelerator area by 38%. Using 16nm CMOS, Gleanmer processes 640x480 images in real time beyond 88 fps during map construction and processes over 540K coordinates per second during map query. To our knowledge, Gleanmer is the first fabricated SoC to achieve real-time 3D occupancy mapping under 6 mW for edge-based applications.
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