Digit recurence division under HUB format

Half-Unit-Biased format is based on shifting the representation line of the binary numbers by half Unit in the Last Place. The main feature of this format is that the round to nearest is carried out by a simple truncation, preventing any carry propagation and saving time and area. Algorithms and architectures have been defined for addition/substraction and multiplication operations under this format. Nevertheless, the division operation has not been confronted yet. In this paper we deal with the floating-point division under HUB format, studying the architecture for the digit recurrence method, including the on-the-fly conversion of the signed digit quotient.

Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments

Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. In order to effectively combine both types of features, their associated errors are weighted according to their covariance matrices, computed from the propagation of Gaussian distribution errors in the sensor measurements. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.