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Yoshitaka YAMAUCHI,Hiroshi TAKEMURA,Satoshi KAGAMI,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper describes the calculation method of the optimal BBF threshold by performing a simulation which using the background image, a real object image and a 3D model image. The background image is captured by a mobile robot camera, and the object image is also captured by the same camera. As a result of the simulation, we confirmed that more inliers could be passed than the conventional threshold, in case SIFT keypoints are the poses of the model extracted.
Proposal of a Hardware Task Engine To Improve Realtime of an Interrupt Handling
Yoshitaka Kashiwagi,Noriyoshi Yamauchi 대한전자공학회 2008 ITC-CSCC :International Technical Conference on Ci Vol.2008 No.7
In this paper, hardware called a hardware task engine is proposed to achieve embedded controller architecture for signal processing. An interrupt task that is highest priority and executes a signal processing is executed a hardware task engine. A hardware task engine works highly realtime, because of it has high-speed and flexible processing ability, and it reduces start up delay from interrupt signal. A prototype of a hardware task engine is made FPGA, and is evaluated on actual magnetic encoder. Start up delay from interrupt signal of a hardware task is 41.60 nanoseconds, and it is faster than software by 3.0 times at a half clock frequency, and temperature rise is reduced to 13.4%. As a result, we can corroborate availability of a hardware task engine.