Bayesian inference implemented on FPGA with stochastic bitstreams for an autonomous robot

摘要

This paper presents an FPGA implementation of a machine performing exact Bayesian inference using stochastic bitstreams. We revisited stochastic computing, not to perform better computations with unreliable hardware, but to perform approximate computations with less hardware. The underlying trade-off is between precision and computation time. An automatic design of probabilistic machines that compute soft inferences with an arithmetic based on stochastic bitstreams is presented. The computation tree provided by a Bayesian inference software is used to define the stochastic circuit. Tests were performed and results presented concerning accuracy and resource usage of the stochastic computing implementation of Bayesian machines performing exact inference. An application example is given of a Bayesian sensorimotor system that performs obstacle avoidance for an autonomous robot, fully implemented on an FPGA. Some conclusions were drawn on the followed approach, providing insights for future implementations.