FPGA design of EKF block accelerator for 3D visual SLAM

Daniel Tortei Tertei, Jonathan Piat, Michel Devy

Abstract: Highlights•FPGA implementation of computing EKF gain and cross-covariance matrices is proposed.•Exploiting cross-covariance matrix symmetry reduces computational and resource costs.•EKF innovation matrix dimension allows for simple SA computational designs.•Our innovation supports observations of 60 AHP landmarks in real time on Zynq-7020.•Proposed hardware accelerator for EKF VO functionality is platform independent.