Implementation and Acceleration of a Particle Filter for Indoor Localization in FPGA Hardware / Implementation och acceleration av ett partikelfilter för inomhuslokalisering i FPGA-hårdvara

Description

For this thesis the algorithm of a Particle Filter has been partly implemented on a Zynq All-programmable SoC allowing for speed ups of up to 12 times in parts of the code. The implementation is used to track a robot in an environment known by a 2D map. Since some parts have not been implemented in hardware lots of communication is done between the hardware and software parts of the code which creates a performance bottleneck.

Links & Downloads

1. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-198909

Tags

Particle Filter

map lookup

FPGA

SoC

Computer Engineering

Datorteknik

Additional Fields

Identifer	oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-198909
Date	January 2015
Creators	Moberg, David
Publisher	Linköpings universitet, Institutionen för systemteknik, Linköpings universitet, Tekniska högskolan
Source Sets	DiVA Archive at Upsalla University
Language	English
Detected Language	English
Type	Student thesis, info:eu-repo/semantics/bachelorThesis, text
Format	application/pdf
Rights	info:eu-repo/semantics/openAccess