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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