Table 1 Functional block partitioning
From: Real time simultaneous localization and mapping: towards low-cost multiprocessor embedded systems
Functional block (FB) | Description | Line | |
|---|---|---|---|
1 | Prediction | The entire prediction process | 7, 8, 9 |
2 | FAST | The FAST corner detector application | 11 |
3 | Landmark projection | The projection of one landmark on the camera plane | 14 |
4 | ZMSSD-M | The correlation computation between one candidate point of the image and one descriptor during the Matching Task | 16 |
5 | H i | H i computation for one observation | 19 |
6 | Estimation | The entire estimation task | 23 to 26 |
7 | ZMSSD-I | The correlation computation between one candidate point of the image and one descriptor during the Initialization Task | 29 |
8 | Weight updating | The update of the particle weight for the initialization step | 30, 31 |
9 | Addition of a new landmark | The insertion of a new landmark under initialization | 39 |