嵌入式智能系统：纳米级无人机，仅重27充 CNN自主导航，史上最小@ETH Zuricl ①init interrupt (GPiO) ULP camera 2 Load binary (HyperBus) 3 Configure camera (12C) 3↑↓4 4 Grab frames (uDMA) L2 Memory FC 5 Load weights (HyperBus) 1 CLUSTER MCU L1 Memory 6 PULP computation 6 7 Write-back results (SPI) 5 Core Core Core Memory a CoreCoreCore Core L3 Hyper Flash/RAM a 份已03巴w 得 The navigation system is based on DroNet,a shallow convolutional neural network standard-size quadrotors developed by from University of Zurich.嵌入式智能系统：纳米级无人机，仅重27克 CNN自主导航，史上最小@ETH Zurich