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.

The Bayesian method is capable of capturing real-world uncertainties/incompleteness and properly addressing the overfitting issue faced by deep neural networks. In recent years, Bayesian neural networks (BNNs) have drawn tremendous attention to artificial intelligence (AI) researchers and proved to be successful in many applications. However, the required high computation complexity makes BNNs difficult to be deployed in computing systems with a limited power budget. In this article, an efficient BNN inference flow is proposed to reduce the computation cost and then is evaluated using both software and hardware implementations. A feature decomposition and memorization (DM) strategy is utilized to reform the BNN inference flow in a reduced manner. About half of the computations could be eliminated compared with the traditional approach that has been proved by theoretical analysis and software validations. Subsequently, in order to resolve the hardware resource limitations, a memory-friendly computing framework is further deployed to reduce the memory overhead introduced by the DM strategy. Finally, we implement our approach in Verilog and synthesize it with a 45-nm FreePDK technology. Hardware simulation results on multilayer BNNs demonstrate that, when compared with the traditional BNN inference method, it provides an energy consumption reduction of 73% and a 4× speedup at the expense of 14% area overhead.

Bayesian inference is an effective approach for solving statistical learning problems, especially with uncertainty and incompleteness. However, Bayesian inference is a computing-intensive task whose efficiency is physically limited by the bottlenecks of conventional computing platforms. In this paper, a spintronics-based stochastic computing (SC) approach is proposed for efficient Bayesian inference. The inherent stochastic switching behaviors of spintronic devices are exploited to build a stochastic bitstream generator (SBG) for SC with hybrid CMOS/magnetic tunnel junction (MTJ) circuits design. Aiming to improve the inference efficiency, an SBG sharing strategy is leveraged to reduce the required SBG array scale by integrating a switch network between SBG array and SC logic. A device-to-architecture level framework is proposed to evaluate the performance of spintronics-based Bayesian inference system (SPINBIS). Experimental results on data fusion applications have shown that SPINBIS could improve the energy efficiency about 12× than MTJ-based approach with 45% design area overhead and about 26× than FPGA-based approach.

Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms. We propose an energy-efficient architecture for real-time ORB (Oriented-FAST and Rotated-BRIEF) based visual SLAM system by accelerating the most time-consuming stages of feature extraction and matching on FPGA platform. Moreover, the original ORB descriptor pattern is reformed as a rotational symmetric manner which is much more hardware friendly. Optimizations including rescheduling and parallelizing are further utilized to improve the throughput and reduce the memory footprint. Compared with Intel i7 and ARM Cortex-A9 CPUs on TUM dataset, our FPGA realization achieves up to 3× and 31× frame rate improvement, as well as up to 71× and 25× energy efficiency improvement, respectively.