GAP9Shield：用于纳米无人机视觉与测距应用的150GOPS超低功耗模块
GAP9Shield: A 150GOPS AI-capable Ultra-low Power Module for Vision and Ranging Applications on Nano-drones
AI总结：
本文提出GAP9Shield，一种基于GAP9 SoC的纳米无人机模块，集成摄像头、WiFi-BLE和测距子系统，提供高采样率、轻量化设计，并在低功耗下实现高效目标检测、定位与建图。
摘要：
人工智能和数字信号处理技术的演进，加上经济高效的处理器，推动了无人机应用硬件和软件的发展。纳米无人机可置于手掌之中，适用于室内环境且对人类交互安全；然而，由于缺乏提供足够传感和计算性能的硬件，它们往往无法完成复杂任务所需的性能。针对这一差距，我们提出了GAP9Shield，一种由GAP9驱动的纳米无人机兼容模块，GAP9是一款具备150GOPS能力的SoC。该系统还包含一个500万像素的OV5647摄像头用于高清成像，一个WiFi-BLE NINA模块，以及一个基于VL53L1的5D测距子系统，增强了避障能力。与类似目标的最先进系统相比，GAP9Shield提供了20%更高的采样率（RGB图像），同时重量减轻20%。在本文中，我们还强调了GAP9在目标检测（YOLO）、定位和建图方面的能效和处理能力，这些可以在低于100 mW的功耗范围内以低延迟（如目标检测为17毫秒）运行，突显了GAP9对新一代纳米无人机应用的变革潜力。
英文摘要：
The evolution of AI and digital signal processing technologies, combined with affordable energy-efficient processors, has propelled the development of both hardware and software for drone applications. Nano-drones, which fit into the palm of the hand, are suitable for indoor environments and safe for human interaction; however, they often fail to deliver the required performance for complex tasks due to the lack of hardware providing sufficient sensing and computing performance. Addressing this gap, we present the GAP9Shield, a nano-drone-compatible module powered by the GAP9, a 150GOPS-capable SoC. The system also includes a 5MP OV5647 camera for high-definition imaging, a WiFi-BLE NINA module, and a 5D VL53L1-based ranging subsystem, which enhances obstacle avoidance capabilities. In comparison with similarly targeted state-of-the-art systems, GAP9Shield provides a 20% higher sample rate (RGB images) while offering a 20% weight reduction. In this paper, we also highlight the energy efficiency and processing power capabilities of GAP9 for object detection (YOLO), localization, and mapping, which can run within a power envelope of below 100 mW and at low latency (as 17 ms for object detection), highlighting the transformative potential of GAP9 for the new generation of nano-drone applications.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
