{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T19:47:44Z","timestamp":1791316064285,"version":"4.3.1"},"reference-count":30,"publisher":"Institute of Electronics, Information and Communications Engineers (IEICE)","issue":"6","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEICE Trans. Inf. & Syst."],"published-print":{"date-parts":[[2021,6,1]]},"DOI":"10.1587\/transinf.2020edp7174","type":"journal-article","created":{"date-parts":[[2021,5,31]],"date-time":"2021-05-31T22:40:09Z","timestamp":1622500809000},"page":"789-800","source":"Crossref","is-referenced-by-count":14,"title":["An FPGA Acceleration and Optimization Techniques for 2D LiDAR SLAM Algorithm"],"prefix":"10.1587","volume":"E104.D","author":[{"given":"Keisuke","family":"SUGIURA","sequence":"first","affiliation":[{"name":"Graduate School of Science and Technology, Keio University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hiroki","family":"MATSUTANI","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Technology, Keio University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"532","reference":[{"key":"1","doi-asserted-by":"publisher","unstructured":"[1] M.W.M.G. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, and M. Csorba, \u201cA Solution to the Simultaneous Localisation and Map Building (SLAM) Problem,\u201d IEEE Trans. Robot. Autom., vol.17, no.3, pp.229-241, June 2001. 10.1109\/70.938381","DOI":"10.1109\/70.938381"},{"key":"2","unstructured":"[2] M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, \u201cFastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem,\u201d Proc. AAAI National Conference on Artificial Intelligence, pp.593-598, 2002."},{"key":"3","unstructured":"[3] M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, \u201cFastSLAM 2.0: An Improved Particle Filtering Algorithm for Simultaneous Localization and Mapping that Provably Converges,\u201d Proc. International Joint Conference on Artificial Intelligence (IJCAI), pp.1151-1156, June 2003."},{"key":"4","doi-asserted-by":"publisher","unstructured":"[4] G. Grisetti, C. Stachniss, and W. Burgard, \u201cImproved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters,\u201d IEEE Trans. Robot., vol.23, no.1, pp.32-46, March 2007. 10.1109\/tro.2006.889486","DOI":"10.1109\/TRO.2006.889486"},{"key":"5","doi-asserted-by":"crossref","unstructured":"[5] J.M. Santos, D. Portugal, and R.P. Rocha, \u201cAn evaluation of 2D SLAM techniques available in Robot Operating System,\u201d Proc. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp.1-6, Oct. 2013. 10.1109\/ssrr.2013.6719348","DOI":"10.1109\/SSRR.2013.6719348"},{"key":"6","doi-asserted-by":"crossref","unstructured":"[6] W. Hess, D. Kohler, H. Rapp, and D. Andor, \u201cReal-Time Loop Closure in 2D LIDAR SLAM,\u201d Proc. IEEE International Conference on Robotics and Automation (ICRA), pp.1271-1278, 2016. 10.1109\/icra.2016.7487258","DOI":"10.1109\/ICRA.2016.7487258"},{"key":"7","doi-asserted-by":"crossref","unstructured":"[7] L. Nardi, B. Bodin, M.Z. Zia, J. Mawer, A. Nisbet, P.H.J. Kelly, A.J. Davison, M. Luj\u00e1n, M.F.P. O'Boyle, G. Riley, N. Topham, and S. Furber, \u201cIntroducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM,\u201d Proc. IEEE International Conference on Robotics and Automation (ICRA), pp.5783-5790, May 2015. 10.1109\/icra.2015.7140009","DOI":"10.1109\/ICRA.2015.7140009"},{"key":"8","doi-asserted-by":"crossref","unstructured":"[8] Q. Gautier, A. Althoff, and R. Kastner, \u201cFPGA Architectures for Real-time Dense SLAM,\u201d Proc. IEEE International Conference on Application-specific Systems, Architectures and Processors (ASAP), pp.83-90, July 2019. 10.1109\/asap.2019.00-25","DOI":"10.1109\/ASAP.2019.00-25"},{"key":"9","unstructured":"[9] S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, MIT Press, 2005."},{"key":"10","doi-asserted-by":"publisher","unstructured":"[10] G. Grisetti, G.D. Tipaldi, C. Stachniss, W. Burgard, and D. Nardi, \u201cFast and Accurate SLAM with Rao-Blackwellized Particle Filters,\u201d Robotics and Autonomous Systems, vol.55, no.1, pp.30-38, Jan. 2007. 10.1016\/j.robot.2006.06.007","DOI":"10.1016\/j.robot.2006.06.007"},{"key":"11","unstructured":"[11] A. Doucet, N. de Freitas, K.P. Murphy, and S.J. Russell, \u201cRao-Blackwellised Particle Filtering for Dynamic Bayesian Networks,\u201d Proc. Conference on Uncertainty in Artificial Intelligence (UAI), pp.176-183, 2000."},{"key":"12","doi-asserted-by":"publisher","unstructured":"[12] R. Kuemmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss, and A. Kleiner, \u201cOn measuring the accuracy of SLAM algorithms,\u201d Autonomous Robots, vol.27, no.4, pp.387-407, Nov. 2009. 10.1007\/s10514-009-9155-6","DOI":"10.1007\/s10514-009-9155-6"},{"key":"13","doi-asserted-by":"crossref","unstructured":"[13] K. Par and O. Tosun, \u201cParallelization of particle filter based localization and map matching algorithms on multicore\/manycore architectures,\u201d Proc. IEEE Intelligent Vehicles Symposium (IV), pp.820-826, June 2011. 10.1109\/ivs.2011.5940475","DOI":"10.1109\/IVS.2011.5940475"},{"key":"14","doi-asserted-by":"crossref","unstructured":"[14] M. Llofriu, F. Andrade, F. Benavides, A. Weitzenfeld, and G. Tejera, \u201cAn embedded particle filter SLAM implementation using an affordable platform,\u201d Proc. International Conference on Advanced Robotics (ICAR), pp.1-6, Nov. 2013. 10.1109\/icar.2013.6766537","DOI":"10.1109\/ICAR.2013.6766537"},{"key":"15","doi-asserted-by":"crossref","unstructured":"[15] D. Portugal, B.D. Gouveia, and L. Marques, \u201cA Distributed and Multithreaded SLAM Architecture for Robotic Clusters and Wireless Sensor Networks,\u201d Studies in Computational Intelligence, pp.121-141, May 2015. 10.1007\/978-3-319-18299-5_6","DOI":"10.1007\/978-3-319-18299-5_6"},{"key":"16","doi-asserted-by":"crossref","unstructured":"[16] M. Abouzahir, A. Elouardi, S. Bouaziz, R. Latif, and A. Tajer, \u201cLarge-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture,\u201d EURASIP Journal on Advances in Signal Processing, pp.1-20, 2016. 10.1186\/s13634-016-0386-3","DOI":"10.1186\/s13634-016-0386-3"},{"key":"17","doi-asserted-by":"publisher","unstructured":"[17] B. Sileshi, J. Oliver, R. Toledo, J. Gon\u00e7alves, and P. Costa, \u201cOn the behaviour of low cost laser scanners in HW\/SW particle filter SLAM applications,\u201d Robotics and Autonomous Systems, vol.80, pp.11-23, 2016. 10.1016\/j.robot.2016.03.002","DOI":"10.1016\/j.robot.2016.03.002"},{"key":"18","doi-asserted-by":"crossref","unstructured":"[18] M. Abouzahir, A. Elouardi, R. Latif, and S. Bouaziz, \u201cEmbedding SLAM algorithms: Has it come of age?,\u201d Robotics and Autonomous Systems, pp.14-26, 2018.","DOI":"10.1016\/j.robot.2017.10.019"},{"key":"19","doi-asserted-by":"crossref","unstructured":"[19] K.M. Wurm, C. Stachniss, and G. Grisetti, \u201cBridging the gap between feature- and grid-based SLAM,\u201d vol.58, no.2, pp.140-148, Feb. 2010.","DOI":"10.1016\/j.robot.2009.09.009"},{"key":"20","unstructured":"[20] C. Schr\u00f6ter, H.J. B\u00f6hme, and H.M. Gross, \u201cMemory-Efficient Gridmaps in Rao-Blackwellized Particle Filters for SLAM using Sonar Range Sensors,\u201d Proc. European Conference on Mobile Robots (EMCR), pp.138-143, Sept. 2007."},{"key":"21","doi-asserted-by":"publisher","unstructured":"[21] H. Jo, H.M. Cho, S. Jo, and E. Kim, \u201cEfficient Grid-Based Rao-Blackwellized Particle Filter SLAM With Interparticle Map Sharing,\u201d IEEE\/ASME Trans. Mechatronics, vol.23, no.2, pp.714-724, April 2018. 10.1109\/tmech.2018.2795252","DOI":"10.1109\/TMECH.2018.2795252"},{"key":"22","doi-asserted-by":"crossref","unstructured":"[22] B.D. Gouveia, D. Portugal, and L. Marques, \u201cSpeeding Up Rao-Blackwellized Particle Filter SLAM with a Multithreaded Architecture,\u201d Proc. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1583-1588, 2014. 10.1109\/iros.2014.6942766","DOI":"10.1109\/IROS.2014.6942766"},{"key":"23","doi-asserted-by":"crossref","unstructured":"[23] Q. Li, T. Rauschenbach, A. Wenzel, and F. Mueller, \u201cEMB-SLAM: An Embedded Efficient Implementation of Rao-Blackwellized Particle Filter Based SLAM,\u201d Proc. International Conference on Control, Robotics and Cybernetics (CRC), pp.88-93, Sept. 2018. 10.1109\/crc.2018.00026","DOI":"10.1109\/CRC.2018.00026"},{"key":"24","doi-asserted-by":"crossref","unstructured":"[24] E. Olson, \u201cM3RSM: Many-to-Many Multi-Resolution Scan Matching,\u201d Proc. IEEE International Conference on Robotics and Automation (ICRA), pp.5815-5821, 2015. 10.1109\/icra.2015.7140013","DOI":"10.1109\/ICRA.2015.7140013"},{"key":"25","unstructured":"[25] C. Stachniss, U. Frese, and G. Grisetti, \u201cOpenSLAM.org.\u201d https:\/\/openslam-org.github.io\/, 2007."},{"key":"26","doi-asserted-by":"crossref","unstructured":"[26] M. Montemerlo, N. Roy, and S. Thrun, \u201cPerspectives on Standardization in Mobile Robot Programming: The Carnegie Mellon Navigation (CARMEN) Toolkit,\u201d Proc. IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2436-2441, 2003. 10.1109\/iros.2003.1249235","DOI":"10.1109\/IROS.2003.1249235"},{"key":"27","doi-asserted-by":"crossref","unstructured":"[27] E.B. Olson, \u201cReal-Time Correlative Scan Matching,\u201d Proc. IEEE International Conference on Robotics and Automation (ICRA), pp.4387-4393, 2009. 10.1109\/robot.2009.5152375","DOI":"10.1109\/ROBOT.2009.5152375"},{"key":"28","unstructured":"[28] \u201cTUL.\u201d https:\/\/www.tul.com.tw\/ProductsPYNQ-Z2.html."},{"key":"29","unstructured":"[29] A. Howard and N. Roy, \u201cThe Robotics Data Set Repository (Radish).\u201d http:\/\/radish.sourceforge.net\/, 2003."},{"key":"30","unstructured":"[30] A. Kleiner, B. Steder, C. Dornhege, C. Stachniss, G. Grisetti, M. Ruhnke, R. K\u00fcmmerle, and W. Burgard, \u201cSLAM Benchmarking Home.\u201d http:\/\/ais.informatik.uni-freiburg.de\/slamevaluation\/, 2009."}],"container-title":["IEICE Transactions on Information and Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.jstage.jst.go.jp\/article\/transinf\/E104.D\/6\/E104.D_2020EDP7174\/_pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,31]],"date-time":"2024-08-31T22:26:32Z","timestamp":1725143192000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.jstage.jst.go.jp\/article\/transinf\/E104.D\/6\/E104.D_2020EDP7174\/_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,1]]},"references-count":30,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2021]]}},"URL":"https:\/\/doi.org\/10.1587\/transinf.2020edp7174","relation":{},"ISSN":["0916-8532","1745-1361"],"issn-type":[{"value":"0916-8532","type":"print"},{"value":"1745-1361","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,1]]}}}