We propose a marker-based geometric framework for the high-frequency absolute 3D pose estimation of a binocular camera system by using the data captured during the exposure of a single rolling shutter scanline. In contrast to existing approaches enforcing temporal or motion models among scanlines (e.g. linear motion, constant velocity or small motion assumptions), we strive to determine the pose from instantaneous binocular capture (i.e. without using data from previous scanlines) and achieve drift-free pose estimation. We leverage the projective invariants of a novel rigid planar pattern, to both define a geometric reference as well as to determine 2D-3D correspondences from raw edge detection measurements from individual scanlines. Moreover, to tackle the ensuing multi-view estimation problem, achieve real-time operation, and minimize latency, we develop a pair of custom solvers leveraging our geometric setup. To mitigate sensitivity to noise, we propose a geometrically consistent measurement refinement mechanism. We verify the quality of our solvers by comparing with state of the art general solvers for absolute pose estimation of generalized cameras. Finally, we demonstrate the effectiveness of our proposed approach with an FPGA-based implementation which achieves a localization throughput of 129.6 KHz with a 1.5 mu s latency.

Traditionally, the High-Level Synthesis (HLS) for Field Programmable Gate Array (FPGA) devices is a methodology that transforms a behavioral description, as the timing-independent specification, to an abstraction level that is synthesizable, like the Register Transfer Level. This process can be performed under a framework that is known as Design Space Exploration (DSE), which helps to determine the best design by addressing scheduling, allocation, and binding problems, all three of which are NP-hard problems. In this manner, and due to the increased complexity of modern digital circuit designs and concerns regarding the capacity of the FPGAs, designers are proposing novel HLS techniques capable of performing automatic optimization. HLS has several conflicting metrics or objective functions, such as delay, area, power, wire length, digital noise, reliability, and security. For this reason, it is suitable to apply Multiobjective Optimization Algorithms (MOAs), which can handle the different trade-offs among the objective functions. During the last two decades, several MOAs have been applied to solve this problem. This paper introduces a comprehensive analysis of different MOAs that are suitable to perform HLS for FPGA devices. We highlight significant aspects of MOAs, namely, optimization methods, intermediate structures where the optimizations are performed, HLS techniques that are addressed, and benchmarks and performance assessments employed for experimentation. In addition, we show the analysis of how multiple objectives are optimized currently in the algorithms and which are the objective functions that are optimized. Finally, we provide insights and suggestions to contribute to the solution of major research challenges in this area.

A Fuzzy Inference System (FIS) is a system that represents human reasoning based on fuzzy if-then rules to extract valid results from imprecise or uncertain information. These systems have been applied to various engineering fields, such as control and image recognition, and have encouraged the search for development tools that provide facilities for the design, simulation, and implementation of FISs. Most of the available software tools for the design of FISs have been developed by the scientific community, and very few are commercial tools. According to the state of the technology, the fuzzy systems implemented in hardware have shown higher performance than software implementations. For this reason, different strategies for automatic hardware synthesis of FISs have been proposed in the literature. The available tools for FIS implementation, including MATLAB, Simulink, and Xfuzzy environment, require advanced hardware knowledge, and it is necessary to synthesize and implement the program on FPGA each time a change is made to the code. This paper presents a novel approach for the implementation of fuzzy systems on hardware devices that enables the direct implementation of FISs through a graphical user interface. The VHDL code is pre-synthesized and integrated with the interface, allowing users to experiment with different input parameters, such as membership functions and fuzzy rules, without resynthesizing the code on an FPGA. To verify the effectiveness of the proposed approach, experiments were conducted on two similar System-on-Chip (SoC) devices, VEEK-MT and VEEK-MT2. The results showed that the proposed solution represents a significant advancement in the study of fuzzy systems on hardware devices, providing a flexible and user-friendly approach to their design and implementation.