The MPEG Reconfigurable Video Coding working group is developing a new library-based process for building the reference codecs of future MPEG standards, which is based on dataflow and uses an actor language called CAL. The paper presents a code generator producing RTL targeting FPGAs for CAL, outlines its structure, and demonstrates its performance on an MPEG-4 Simple Profile decoder. The resulting implementation is smaller and faster than a comparable RTL reference design, and the second half of the paper discusses some of the reasons for this counter-intuitive result.

In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resolution intensity image. Our approach draws inspiration from related work on super-resolution and in-painting. We propose a novel architecture that seeks to pull contextual cues separately from the intensity image and the depth features and then fuse them later in the network. We argue that this approach effectively exploits the relationship between the two modalities and produces accurate results while respecting salient image structures. We present experimental results to demonstrate that our approach is comparable with state of the art methods and generalizes well across multiple datasets.1

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further enhanced by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender further inherent challenges for planning, estimation, and control.In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. To our knowledge, these experiments represent the first fully autonomous exploration of an unknown GNSS-denied environment undertaken by legged robots.

International audienceThe MPEG Reconfigurable Video Coding (RVC) framework is a new standard under development by MPEG that aims at providing a unified high-level specification of current MPEG video coding technologies. In this framework, a decoder is built as a configuration of video coding modules taken from the standard "MPEG toolbox library". The elements of the library are specified by a textual description that expresses the I/O behavior of each module and by a reference software written using the CAL Actor Language. A decoder configuration is written in an XML dialect by connecting a set of CAL modules. Code generators are fundamental supports that enable the direct transformation of a high level specification to efficient hardware and software implementations. This paper presents a synthesis tool that from a CAL dataflow program generates C code and an associated SystemC model. Experimental results of the RVC Expert's MPEG-4 Simple Profile decoder synthesis are reported. The generated code and the associated SystemC model are validated against the original CAL description which is simulated using the Open Dataflow environment

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