Search results for "Embedded C"

Real time UAV altitude, attitude and motion estimation from hybrid stereovision

2012

International audience; Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating t…

Multi-purpose embedded communication gateway : system design and testbed implementation

2014

Masteroppgave i Informasjons- og kommunikasjonsteknologi IKT590 Universitetet i Agder 2014 This dissertation revolves around developing a multi-purpose embedded communication gateway. The gateway is equipped with multiple communication interfaces including Ethernet, Bluetooth, WiFi, Zigbee, LTE, and it can be configured and utilized for many purposes, such as a failover of an Ethernet cable via 4G in order to maintain the network connectivity. Raspberry Pi circuit board and the operating system Raspbian are selected as the hardware and the software platforms respectively. Different communication interfaces are coordinated by the Raspberry Pi and are configured via Linux scripts according to…

How store design contributes to the evolution of retail brand positioning : a longitudinal case study

2014

One of the innovative ways favoured by retailers to drive change in their value proposition is to review the design of their stores. Academic contributions to the in-store experience have mostly focused on consumer perspective and identifying relevant managerial practices. The core of this research studies how repositioning a retail brand translates into the experiential design of retail spaces. To this end, the research follows the repositioning process from a managerial perspective and updates the mechanisms that underlie it. The longitudinal study of embedded cases reveals the importance of an holistic design that takes into account the desired interactions between the shopper and the st…

Graphic Coprocessors with Native Clifford Algebra Support

2009

ConformalALU: A Conformal Geometric Algebra Coprocessor for Medical Image Processing

2015

Medical imaging involves important computational geometric problems, such as image segmentation and analysis, shape approximation, three-dimensional (3D) modeling, and registration of volumetric data. In the last few years, Conformal Geometric Algebra (CGA), based on five-dimensional (5D) Clifford Algebra, is emerging as a new paradigm that offers simple and universal operators for the representation and solution of complex geometric problems. However, the widespread use of CGA has been so far hindered by its high dimensionality and computational complexity. This paper proposes a simplified formulation of the conformal geometric operations (reflections, rotations, translations, and uniform …

Design and implementation of an embedded coprocessor with native support for 5D, quadruple-based Clifford algebra

2013

Geometric or Clifford algebra (CA) is a powerful mathematical tool that offers a natural and intuitive way to model geometric facts in a number of research fields, such as robotics, machine vision, and computer graphics. Operating in higher dimensional spaces, its practical use is hindered, however, by a significant computational cost, only partially addressed by dedicated software libraries and hardware/software codesigns. For low-dimensional algebras, several dedicated hardware accelerators and coprocessing architectures have been already proposed in the literature. This paper introduces the architecture of CliffordALU5, an embedded coprocessing core conceived for native execution of up t…

A New Embedded Coprocessor for Clifford Algebra based Software Intensive Systems

2011

Computer graphics applications require efficient tools to model geometric objects and their transformations. Clifford algebra (also known as geometric algebra) is receiving a growing attention in many research fields, such as computer graphics, machine vision and robotics, as a new, interesting computational paradigm that offers a natural and intuitive way to perform geometric calculations. At the same time, compute-intensive graphics algorithms require the execution of million Clifford operations. Clifford algebra based software intensive systems need therefore the support of specialized hardware architectures capable of accelerating Clifford operations execution. In this paper the archite…

A Family of Embedded Coprocessors with Native Geometric Algebra Support

2015

Clifford Algebra or Geometric Algebra (GA) is a simple and intuitive way to model geometric objects and their transformations. Operating in high-dimensional vector spaces with significant computational costs, the practical use of GA requires, however, dedicated software and/or hardware architectures to directly support Clifford data types and operators. In this paper, a family of embedded coprocessors for the native execution of GA operations is presented. The paper shows the evolution of the coprocessor family focusing on the latest two architectures that offer direct hardware support to up to five-dimensional Clifford operations. The proposed coprocessors exploit hardware-oriented represe…

An Embedded, FPGA-based Computer Graphics Coprocessor with Native Geometric Algebra Support

2009

The representation of geometric objects and their transformation are the two key aspects in computer graphics applications. Traditionally, computer-intensive matrix calculations are involved in modeling and rendering three-dimensional (3D) scenery. Geometric algebra (aka Clifford algebra) is attracting attention as a natural way to model geometric facts and as a powerful analytical tool for symbolic calculations. In this paper, the architecture of Clifford coprocessor (CliffoSor) is introduced. CliffoSor is an embedded parallel coprocessing core that offers direct hardware support to Clifford algebra operators. A prototype implementation on a programmable gate array (FPGA) board is detailed…

A Dual-Core Coprocessor with Native 4D Clifford Algebra Support

2012

Geometric or Clifford Algebra (CA) is a powerful mathematical tool that is attracting a growing attention in many research fields such as computer graphics, computer vision, robotics and medical imaging for its natural and intuitive way to represent geometric objects and their transformations. This paper introduces the architecture of CliffordCoreDuo, an embedded dual-core coprocessor that offers direct hardware support to four-dimensional (4D) Clifford algebra operations. A prototype implementation on an FPGA board is detailed. Experimental results show a 1.6× average speedup of CliffordCoreDuo in comparison with the baseline mono-core architecture. A potential cycle speedup of about 40× o…