A Framework for the Design and Simulation of Embedded Vision Applications Based on OpenVX and ROS

Customizing computer vision applications for embedded systems is a common and widespread problem in the cyber-physical systems community. Such a customization means parametrizing the algorithm by considering the external environment and mapping the Software application to the heterogeneous Hardware resources by satisfying non-functional constraints like performance, power, and energy consumption. This work presents a framework for the design and simulation of embedded vision applications that integrates the OpenVX standard platform with the Robot Operating System (ROS). The paper shows how the framework has been applied to tune the ORB-SLAM application for an NVIDIA Jetson TX2 board by considering different environment contexts and different design constraints.