An Efficient Ensemble Binarized Deep Neural Network on Chip with Perception-Control Integrated †

Lightweight UAVs equipped with deep learning models have become a trend, which can be deployed for automatic navigation in a wide range of civilian and military missions. However, real-time applications usually need to process a large amount of image data, which leads to a very large computational complexity and storage consumption, and restricts its deployment on resource-constrained embedded edge devices. To reduce the computing requirements and storage occupancy of the neural network model, we proposed the ensemble binarized DroNet (EBDN) model, which implemented the reconstructed DroNet with the binarized and ensemble learning method, so that the model size of DroNet was effectively compressed, and ensemble learning method was used to overcome the defect of the poor performance of the low-precision network. Compared to the original DroNet, EBDN saves more than 7 times of memory footprint with similar model accuracy. Meanwhile, we also proposed a novel and high-efficiency hardware architecture to realize the EBDN on the chip (EBDNoC) system, which perfectly realizes the mapping of an algorithm model to hardware architecture. Compared to other solutions, the proposed architecture achieves about 10.21 GOP/s/kLUTs resource efficiency and 208.1 GOP/s/W energy efficiency, while also providing a good trade-off between model performance and resource utilization.