Design of Compressed Memory Model Based on AVC Standard for Robotics
To cater the needs of diverse application domains, three
basic feature sets called profiles are established in H.264
standard: the Baseline, Main, and Extended profiles. The
Baseline profile is designed to minimize complexity and
provide high robustness and flexibility for use over a
broad range of network environments and conditions; the
Main profile is designed with an emphasis on
compression coding efficiency capability; and the
Extended profile is designed to combine the robustness
of the Baseline profile with a higher degree of coding
efficiency and greater network robustness. The H.264
bitstream is organized as a series of NAL units, which
are first, processed by the NAL unit decoder module.
NAL unit decoder does the job of NAL unit separation
and parsing of the header information. The output data
elements of NAL unit decoder are entropy decoded and
reordered to produce a set of quantized coefficients by
the variable length decoder module. The quantized coefficients
are then rescaled and inverse transformed to
give difference macroblock using the transformation and
quantization module. Using the header information
decoded from the bitstream, the motion compensation
and picture construction module produces distorted
macroblocks which are then filtered using the deblocking
filter to create decoded macroblocks. The output is
stored as a yuv file, which can be played using any YUV
player/viewer. Thus the visual input from the sensors
of the robots can be compressed by this technique
before delivered to the actuators on the scene.
Keywords: Deblocking filter, Motion
Compensation, Macroblock modes, NAL units
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