Mirko Falchetto

Sort Middle Pipeline Architecture for Efficient 3D Rendering

This paper presents a high performance fixed function 3D graphics pipeline based on sort-middle computing paradigm. The proposed architecture implements the full specification of the OpenGL|ES 1.1 open standard and is specifically designed for a cost effective integration on consumer devices, in particular on low-power mobile ones.

Detecting changes at the sensor level in cyber-physical systems: Methodology and technological implementation

Self-adaptive Cyber-Physical Systems (CPSs) enrich CPSs functionalities by introducing self-configuration, self-management, and self-healing skills. Such skills, which are crucial to support adaptation mechanisms, take advantage of the ability to detect changes in the acquired datastreams, e.g., induced by faults affecting sensors/actuators or time-variant environments. In turn, change detection permits CPSs to enable adaptive mechanisms such as reconfiguration of some functionalities to track or mitigate the effect of the change. This paper introduces a novel methodology together with a technological implementation specifically designed for detecting changes affecting the sensor acquisitions in units of CPSs. The methodology requires: 1) learning the signal model; 2) design a model-free change detection test; 3) design a change-point method to validate the detected change. A technological implementation of the proposed methodology encompassing linear predictive models, the ICI-based change detection test and the Mann-Whitney change-point method is introduced and tested on the ST STM32 Nucleo platform. The high detection accuracy altogether with the low computational load and memory occupation make the proposed methodology (and its technological implementation) well suited for self-adaptive CPSs.

Accurate omnidirectional multi-camera embedded structure from motion

Trajectory estimation and 3D scene reconstruction from multiple cameras (also referred as Structure from Motion, SfM) will have a central role in the future of automotive industry. Typical appliance fields will be: autonomous navigation/guidance, collisions avoidance against static or moving objects (in particular pedestrians), parking assisted maneuvers and many more. The work exposed in this paper had mainly two different goals: (1) to describe the implementation of a real time embedded SfM modular pipeline featuring a dedicated optimized HW/SW system partitioning. It included also nonlinear optimizations such as local and global bundle adjustment at different stages of the pipeline; (2) to demonstrate quantitatively its performances on a synthetic test space specifically designed for its characterization. In order to make the system reliable and effective, providing the driver or the autonomous vehicle with a prompt response, the data rates and low latency of the 5G communication systems appear to make this choice the most promising communication solution.

Accurate characterization of embedded Structure from Motion

Trajectory estimation and 3d scene reconstruction from single camera, e.g. Structure from Motion, is going to have a central role in the future of automotive industry. Typical appliance fields will be: collisions avoidance with any kind of object (people included), parking assisted maneuvers and many more. Indeed various countries are becoming more and more concerned about road traffic safety and therefore through its “Advanced Program”, EuroNCAP rewards vehicle manufacturers who employ Advanced Safety Technologies that assists the driver. This paper had mainly two different goals: (1) to describe the implementation of a state of art Structure from Motion pipeline able to run in real time with embedded fish-eye camera, which includes nonlinear optimization (i.e. local bundle adjustment); (2) to demonstrate quantitatively its performances on a synthetic test space specifically designed for its characterization in term of accuracy.

Adaptive Frame Rate Up-conversion for 3D Graphics Pipelines

This paper presents a novel 3D graphics pipeline for consumer devices able to achieve increased frame-rate at its output, high picture quality, improved temporal anti-aliasing, thanks to a frame-rate up-conversion algorithm based on motion extraction from 3D primitives and efficient compensation, without the need for any motion estimation tool.