Model-Based Design and Verication Flow for Embedded Vision Applications

Data inizio
26 febbraio 2019
Durata (mesi) 
Responsabili (o referenti locali)
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.

Enti finanziatori:

Finanziamento: assegnato e gestito da un ente esterno all'ateneo

Partecipanti al progetto

Nicola Bombieri
Professore associato
Alessandro Farinelli
Professore ordinario
Paolo Fiorini
Professore ordinario
Franco Fummi
Professore ordinario
Riccardo Muradore
Professore associato
Graziano Pravadelli
Professore ordinario
Davide Quaglia
Professore associato

Collaboratori esterni

Domenico Daniele Bloisi
Università della Basilicata
Aree di ricerca coinvolte dal progetto
Sistemi ciberfisici