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An efficient hardware-software co-verification methodology is essential in the design of systems on boards (SOB) and systems on chips (SOC). The increasing complexity of hardware and software makes the challenge of their integration more difficult than ever. This paper addresses the correctness verification of mixed hardware-software systems prior to IC fabrication. It presents the requirements of an efficient verification methodology, the multilevel co-verification approach, and a wide set of co-verification models based on different techniques like co-simulation, in circuit emulation, and hardware emulation. For each model, we present its advantages, its restrictions, and its implementation techniques. Then we study the factors that drive the co-simulation performance and we show how to fairly estimate this performance for different configurations. [ABSTRACT FROM AUTHOR]

Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System), also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results. [ABSTRACT FROM AUTHOR]