Some of the pre-processing for April tags requires the generation of an image magnitude and theta which are very compute intensive. By offloading these operations to the FPGA fabric the overall April tag 3D localization routine can be greatly accelerated. A video of the mag and theta processing in real time can be viewed here. https://vimeo.com/518406224
Dr. Kaputa (2021). Mag and Theta with HDL Coder (https://www.mathworks.com/matlabcentral/fileexchange/88066-mag-and-theta-with-hdl-coder), MATLAB Central File Exchange. Retrieved .
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