JTAG interface for the VideoCore VPU. It isn't populated because it is useless for everybody except Raspberry Pi engineers working on the firmware. The JTAG interface for the ARM cores is on the GPIO header as one of the alternate functions.
JTAG port used during manufacture to set the serial number etc.
It's not actually used in manufacture. Production test uses a custom buildroot image on SD card to flash the various EEPROMs and run the suite of test routines. The port is strictly for Videocore firmware development and debug.