Model-Based Design and Verication Flow for Embedded Vision Applications

Starting date
February 26, 2019
Duration (months)
12
Departments
Computer Science
Managers or local contacts
Bombieri Nicola

Customizing computer vision applications for embedded systems is a common and widespread problem in the cyber-physical systems (CPS) community. Such a customization has two main goals: (i) parametrizing the application algorithm by considering the external environment, and (ii) correctly mapping the Software application to the heterogeneous processing components of the target Hardware to satisfy non-functional constraints like performance, power, and energy consumption. The lack of automation and verification methodologies in such design ow makes embedded software development a time consuming and error prone task especially in real and complex contexts. One of them is ORB-SLAM, a novel application that computes in real-time the image sensor trajectory and a sparse 3D reconstruction of the scene taken from an agent moving around indoor or outdoor environments. It is a key application for autonomous navigation in the Robotics field. What is missing is a model-based approach for the design, parametrization, and verification of embedded vision applications targeting CPS. This project aims at defining such an approach and to apply it to the ORB-SLAM case study. This gives two fundamental contributions to the CPS community: a general and efficient methodology for the design, customization, and verification of embedded applications and a reference implementation of ORB-SLAM ready to be synthesised into different existing low-power embedded systems.

Sponsors:

INdAM
Funds: assigned and managed by an external body

Project participants

Nicola Bombieri
Associate Professor
Alessandro Farinelli
Associate Professor
Paolo Fiorini
Full Professor
Franco Fummi
Full Professor
Riccardo Muradore
Temporary Assistant Professor
Graziano Pravadelli
Full Professor
Davide Quaglia
Assistant Professor

Collaboratori esterni

Domenico Daniele Bloisi
Università della Basilicata
Research areas involved in the project
Sistemi ciberfisici
Architectures

Activities

Research facilities