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Gleanmer is a 6mW system-on-chip (SoC) designed to accelerate Gaussian Mixture Model (GMM) based 3D occupancy mapping for edge applications. The chip employs algorithm-hardware co-optimization, including direct computation and efficient reuse of Gaussian parameters, to minimize energy consumption during map construction and querying. Fabricated in 16nm CMOS, Gleanmer achieves real-time performance, processing 640x480 images at 88 fps for map construction and querying over 540K coordinates per second, while consuming only 6mW.
Real-time 3D occupancy mapping for edge devices is now possible under a 6mW power budget thanks to Gleanmer, a novel SoC.
High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer, a system on chip (SoC) with an accelerator for GMMap, a 3D occupancy map using Gaussians. Through algorithm-hardware co-optimizations for direct computation and efficient reuse of these compact Gaussians, Gleanmer reduces construction and query energy by up to 63% and 81%, respectively. Approximate computation on Gaussians reduces accelerator area by 38%. Using 16nm CMOS, Gleanmer processes 640x480 images in real time beyond 88 fps during map construction and processes over 540K coordinates per second during map query. To our knowledge, Gleanmer is the first fabricated SoC to achieve real-time 3D occupancy mapping under 6 mW for edge-based applications.
