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
Ricercatore a tempo determinato
Graziano Pravadelli
Professore ordinario
Davide Quaglia
Professore associato

Collaboratori esterni

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