{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T04:09:16Z","timestamp":1750651756259,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":23,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,1,17]],"date-time":"2023-01-17T00:00:00Z","timestamp":1673913600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,1,17]]},"DOI":"10.1145\/3579170.3579266","type":"proceedings-article","created":{"date-parts":[[2023,4,13]],"date-time":"2023-04-13T16:35:54Z","timestamp":1681403754000},"page":"20-30","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["ReDroSe \u2014 Reconfigurable Drone Setup for Resource-Efficient SLAM"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7275-3525","authenticated-orcid":false,"given":"Sebastian","family":"Rahn","sequence":"first","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8608-7535","authenticated-orcid":false,"given":"Philipp","family":"Gehricke","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2338-2411","authenticated-orcid":false,"given":"Can-Leon","family":"Peterm\u00f6ller","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0435-8977","authenticated-orcid":false,"given":"Eric","family":"Neumann","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4630-8804","authenticated-orcid":false,"given":"Philipp","family":"Schlinge","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0666-4062","authenticated-orcid":false,"given":"Leon","family":"Rabius","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4370-8231","authenticated-orcid":false,"given":"Henning","family":"Term\u00fchlen","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7739-8844","authenticated-orcid":false,"given":"Christopher","family":"Sieh","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9498-8416","authenticated-orcid":false,"given":"Marco","family":"Tassemeier","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0710-872X","authenticated-orcid":false,"given":"Thomas","family":"Wiemann","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1005-5753","authenticated-orcid":false,"given":"Mario","family":"Porrmann","sequence":"additional","affiliation":[{"name":"Osnabr\u00fcck University, Germany"}]}],"member":"320","published-online":{"date-parts":[[2023,4,13]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE","author":"Canelhas Daniel\u00a0Ricao","year":"2013","unstructured":"Daniel\u00a0Ricao Canelhas , Todor Stoyanov , and Achim\u00a0 J. Lilienthal . 2013 . SDF Tracker: A parallel algorithm for on-line pose estimation and scene reconstruction from depth images . In 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE , Tokyo, Japan, 3671\u20133676. Daniel\u00a0Ricao Canelhas, Todor Stoyanov, and Achim\u00a0J. Lilienthal. 2013. SDF Tracker: A parallel algorithm for on-line pose estimation and scene reconstruction from depth images. In 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, Tokyo, Japan, 3671\u20133676."},{"key":"e_1_3_2_1_2_1","unstructured":"NVIDIA Corporation. 2022. Jetson Xavier NX Series. https:\/\/www.nvidia.com\/de-de\/autonomous-machines\/embedded-systems\/jetson-xavier-nx\/. Accessed: 2022-11-22.  NVIDIA Corporation. 2022. Jetson Xavier NX Series. https:\/\/www.nvidia.com\/de-de\/autonomous-machines\/embedded-systems\/jetson-xavier-nx\/. Accessed: 2022-11-22."},{"key":"e_1_3_2_1_3_1","unstructured":"Ouster Corporation. 2022. OS 1 Mid-range digital lidar sensor. https:\/\/ouster.com\/products\/scanning-lidar\/os1-sensor\/. Accessed: 2022-12-21.  Ouster Corporation. 2022. OS 1 Mid-range digital lidar sensor. https:\/\/ouster.com\/products\/scanning-lidar\/os1-sensor\/. Accessed: 2022-12-21."},{"key":"e_1_3_2_1_4_1","volume-title":"2021 European Conference on Mobile Robots (ECMR). IEEE","author":"Eisoldt Marc","year":"2021","unstructured":"Marc Eisoldt , Marcel Flottmann , Julian Gaal , Pascal Buscherm\u00f6hle , Steffen Hinderink , Malte Hillmann , Adrian Nitschmann , Patrick Hoffmann , Thomas Wiemann , and Mario Porrmann . 2021 . HATSDF SLAM\u2013Hardware-accelerated TSDF SLAM for Reconfigurable SoCs . In 2021 European Conference on Mobile Robots (ECMR). IEEE , Bonn, Germany, 1\u20137. Marc Eisoldt, Marcel Flottmann, Julian Gaal, Pascal Buscherm\u00f6hle, Steffen Hinderink, Malte Hillmann, Adrian Nitschmann, Patrick Hoffmann, Thomas Wiemann, and Mario Porrmann. 2021. HATSDF SLAM\u2013Hardware-accelerated TSDF SLAM for Reconfigurable SoCs. In 2021 European Conference on Mobile Robots (ECMR). IEEE, Bonn, Germany, 1\u20137."},{"key":"e_1_3_2_1_5_1","volume-title":"A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors (HATSDF SLAM). Robotics and Autonomous Systems 156","author":"Eisoldt Marc","year":"2022","unstructured":"Marc Eisoldt , Julian Gaal , Thomas Wiemann , Marcel Flottmann , Marc Rothmann , Marco Tassemeier , and Mario Porrmann . 2022. A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors (HATSDF SLAM). Robotics and Autonomous Systems 156 ( 2022 ). Marc Eisoldt, Julian Gaal, Thomas Wiemann, Marcel Flottmann, Marc Rothmann, Marco Tassemeier, and Mario Porrmann. 2022. A fully integrated system for hardware-accelerated TSDF SLAM with LiDAR sensors (HATSDF SLAM). Robotics and Autonomous Systems 156 (2022)."},{"key":"e_1_3_2_1_6_1","unstructured":"Trenz Electronic. 2022. Trenz Electronic Wiki - TE0808 TRM. https:\/\/wiki.trenz-electronic.de\/display\/PD\/TE0808+Resources. Accessed: 2022-11-22.  Trenz Electronic. 2022. Trenz Electronic Wiki - TE0808 TRM. https:\/\/wiki.trenz-electronic.de\/display\/PD\/TE0808+Resources. Accessed: 2022-11-22."},{"key":"e_1_3_2_1_7_1","unstructured":"Trenz Electronic. 2022. Trenz Electronic Wiki - TEBF0808 TRM. https:\/\/wiki.trenz-electronic.de\/display\/PD\/TEBF0808+TRM. Accessed: 2022-11-22.  Trenz Electronic. 2022. Trenz Electronic Wiki - TEBF0808 TRM. https:\/\/wiki.trenz-electronic.de\/display\/PD\/TEBF0808+TRM. Accessed: 2022-11-22."},{"key":"e_1_3_2_1_8_1","volume-title":"2021 International Conference on Field-Programmable Technology (ICFPT). IEEE","author":"Flottmann Marcel","year":"2021","unstructured":"Marcel Flottmann , Marc Eisoldt , Julian Gaal , Marc Rothmann , Marco Tassemeier , Thomas Wiemann , and Mario Porrmann . 2021 . Energy-efficient FPGA-accelerated LiDAR-based SLAM for embedded robotics . In 2021 International Conference on Field-Programmable Technology (ICFPT). IEEE , Auckland, New Zealand, 1\u20136. Marcel Flottmann, Marc Eisoldt, Julian Gaal, Marc Rothmann, Marco Tassemeier, Thomas Wiemann, and Mario Porrmann. 2021. Energy-efficient FPGA-accelerated LiDAR-based SLAM for embedded robotics. In 2021 International Conference on Field-Programmable Technology (ICFPT). IEEE, Auckland, New Zealand, 1\u20136."},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"crossref","first-page":"748","DOI":"10.1007\/978-3-030-01370-7_58","article-title":"Markerless AD-HOC calibration of a hyperspectral camera and a 3D laser scanner, In Intelligent Autonomous Systems 15","volume":"867","author":"Igelbrink Felix","year":"2019","unstructured":"Felix Igelbrink , Thomas Wiemann , Sebastian P\u00fctz , and Joachim Hertzberg . 2019 . Markerless AD-HOC calibration of a hyperspectral camera and a 3D laser scanner, In Intelligent Autonomous Systems 15 . Advances in Intelligent Systems and Computing 867 , 748 \u2013 759 . Felix Igelbrink, Thomas Wiemann, Sebastian P\u00fctz, and Joachim Hertzberg. 2019. Markerless AD-HOC calibration of a hyperspectral camera and a 3D laser scanner, In Intelligent Autonomous Systems 15. Advances in Intelligent Systems and Computing 867, 748\u2013759.","journal-title":"Advances in Intelligent Systems and Computing"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"e_1_3_2_1_11_1","unstructured":"MAVLink. 2022. MAVLink User Guide. https:\/\/mavlink.io\/en\/. Accessed: 2022-11-24.  MAVLink. 2022. MAVLink User Guide. https:\/\/mavlink.io\/en\/. Accessed: 2022-11-24."},{"key":"e_1_3_2_1_12_1","unstructured":"NVIDIA. 2019. Accelerated GStreamer User Guide. https:\/\/developer.download.nvidia.com\/embedded\/L4T\/r32_Release_v1.0\/Docs\/Accelerated_GStreamer_User_Guide.pdf. Accessed: 2022-11-25.  NVIDIA. 2019. Accelerated GStreamer User Guide. https:\/\/developer.download.nvidia.com\/embedded\/L4T\/r32_Release_v1.0\/Docs\/Accelerated_GStreamer_User_Guide.pdf. Accessed: 2022-11-25."},{"key":"e_1_3_2_1_13_1","unstructured":"NVIDIA. 2022. Libargus Camera API. Retrieved 2022-11-25 from https:\/\/docs.nvidia.com\/jetson\/l4t-multimedia\/group__LibargusAPI.html  NVIDIA. 2022. Libargus Camera API. Retrieved 2022-11-25 from https:\/\/docs.nvidia.com\/jetson\/l4t-multimedia\/group__LibargusAPI.html"},{"key":"e_1_3_2_1_14_1","volume-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4758\u20134765","author":"Shan Tixiao","year":"2018","unstructured":"Tixiao Shan and Brendan Englot . 2018 . Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain . In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4758\u20134765 . Tixiao Shan and Brendan Englot. 2018. Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4758\u20134765."},{"key":"e_1_3_2_1_15_1","volume-title":"2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, 5135\u20135142","author":"Shan Tixiao","year":"2020","unstructured":"Tixiao Shan , Brendan Englot , Drew Meyers , Wei Wang , Carlo Ratti , and Daniela Rus . 2020 . Lio-sam: Tightly-coupled lidar inertial odometry via smoothing and mapping . In 2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, 5135\u20135142 . Tixiao Shan, Brendan Englot, Drew Meyers, Wei Wang, Carlo Ratti, and Daniela Rus. 2020. Lio-sam: Tightly-coupled lidar inertial odometry via smoothing and mapping. In 2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, 5135\u20135142."},{"key":"e_1_3_2_1_16_1","unstructured":"OpenCV team. 2022. OpenCV Camera Calibration. https:\/\/docs.opencv.org\/4.x\/dc\/dbb\/tutorial_py_calibration.html. Accessed: 2022-12-21.  OpenCV team. 2022. OpenCV Camera Calibration. https:\/\/docs.opencv.org\/4.x\/dc\/dbb\/tutorial_py_calibration.html. Accessed: 2022-12-21."},{"key":"e_1_3_2_1_17_1","volume-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4390\u20134396","author":"Wang Han","year":"2021","unstructured":"Han Wang , Chen Wang , Chun-Lin Chen , and Lihua Xie . 2021 . F-loam: Fast lidar odometry and mapping . In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4390\u20134396 . Han Wang, Chen Wang, Chun-Lin Chen, and Lihua Xie. 2021. F-loam: Fast lidar odometry and mapping. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 4390\u20134396."},{"key":"e_1_3_2_1_18_1","volume-title":"Accelerating JPEG Decompression on GPUs. In 2021 IEEE 28th International Conference on High Performance Computing, Data, and Analytics (HiPC). 121\u2013130","author":"Wei\u00dfenberger Andr\u00e9","year":"2021","unstructured":"Andr\u00e9 Wei\u00dfenberger and Bertil Schmidt . 2021 . Accelerating JPEG Decompression on GPUs. In 2021 IEEE 28th International Conference on High Performance Computing, Data, and Analytics (HiPC). 121\u2013130 . Andr\u00e9 Wei\u00dfenberger and Bertil Schmidt. 2021. Accelerating JPEG Decompression on GPUs. In 2021 IEEE 28th International Conference on High Performance Computing, Data, and Analytics (HiPC). 121\u2013130."},{"key":"e_1_3_2_1_19_1","volume-title":"Kintinuous: Spatially extended kinectfusion.","author":"Whelan Thomas","year":"2012","unstructured":"Thomas Whelan , Michael Kaess , Maurice Fallon , Hordur Johannsson , John Leonard , and John McDonald . 2012 . Kintinuous: Spatially extended kinectfusion. (2012). Thomas Whelan, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard, and John McDonald. 2012. Kintinuous: Spatially extended kinectfusion. (2012)."},{"key":"e_1_3_2_1_20_1","unstructured":"Xilinx. 2021. PetaLinux Tools Documentation: Reference Guide (ug1144 (v2021.2) ed.). Retrieved 2022-11-26 from https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug1144-petalinux-tools-reference-guide\/Revision-History  Xilinx. 2021. PetaLinux Tools Documentation: Reference Guide (ug1144 (v2021.2) ed.). Retrieved 2022-11-26 from https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug1144-petalinux-tools-reference-guide\/Revision-History"},{"key":"e_1_3_2_1_21_1","unstructured":"Xilinx. 2021. Vitis High-Level Synthesis User Guide(ug1399 (v2021.2) ed.). https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug1399-vitis-hls\/Getting-Started-with-Vitis-HLS  Xilinx. 2021. Vitis High-Level Synthesis User Guide(ug1399 (v2021.2) ed.). https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug1399-vitis-hls\/Getting-Started-with-Vitis-HLS"},{"key":"e_1_3_2_1_22_1","unstructured":"Xilinx. 2021. Vivado Design Suite User Guide: Design Flows Overview (ug892 (v2021.2) ed.). Retrieved 2022-11-26 from https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug892-vivado-design-flows-overview\/Vivado-System-Level-Design-Flows  Xilinx. 2021. Vivado Design Suite User Guide: Design Flows Overview (ug892 (v2021.2) ed.). Retrieved 2022-11-26 from https:\/\/docs.xilinx.com\/r\/2021.2-English\/ug892-vivado-design-flows-overview\/Vivado-System-Level-Design-Flows"},{"key":"e_1_3_2_1_23_1","volume-title":"LOAM: Lidar odometry and mapping in real-time.. In Robotics: Science and Systems, Vol.\u00a02.","author":"Zhang Ji","year":"2014","unstructured":"Ji Zhang and Sanjiv Singh . 2014 . LOAM: Lidar odometry and mapping in real-time.. In Robotics: Science and Systems, Vol.\u00a02. Berkeley, CA , 1\u20139. Ji Zhang and Sanjiv Singh. 2014. LOAM: Lidar odometry and mapping in real-time.. In Robotics: Science and Systems, Vol.\u00a02. Berkeley, CA, 1\u20139."}],"event":{"name":"DroneSE and RAPIDO 2023: System Engineering for constrained embedded systems","acronym":"DroneSE and RAPIDO 2023","location":"Toulouse France"},"container-title":["DroneSE and RAPIDO: System Engineering for constrained embedded systems"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3579170.3579266","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3579170.3579266","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T17:49:27Z","timestamp":1750182567000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3579170.3579266"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1,17]]},"references-count":23,"alternative-id":["10.1145\/3579170.3579266","10.1145\/3579170"],"URL":"https:\/\/doi.org\/10.1145\/3579170.3579266","relation":{},"subject":[],"published":{"date-parts":[[2023,1,17]]},"assertion":[{"value":"2023-04-13","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}