In recent years, automated driving and AGVs are actively researched and developed. The important technique is Simultaneous Localization and Mapping (SLAM) which creates maps and self-location estimation at simultaneously. There are several kinds of SLAM depending on the sensor and algorithm used, ORB-SLAM uses only monocular camera. Since it is cheaper than other sensors, it is easy to board it into AGV etc. However, the calculation amount is large. Although high performance PCs is required, it is not able to board it into AGV etc., so we focused on FPGA. The FPGA development environment is also actively developed, and the development with high-level synthesis has become realistic. Therefore, in this research, in order to improve FPGA development efficiency, we implemented ORB-SLAM from open source software to FPGA.
