BIT-VO: Visual Odometry At 300 FPS Using Binary Features From The ...

Computer Science > Computer Vision and Pattern Recognition arXiv:2004.11186 (cs) [Submitted on 23 Apr 2020] Title:BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane Authors:Riku Murai, Sajad Saeedi, Paul H. J. Kelly View a PDF of the paper titled BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane, by Riku Murai and 2 other authors View PDF

Abstract:Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where the light intensity is captured. SCAMP-5 is a general-purpose FPSP used in this work and it carries out computations in the analog domain before analog to digital conversion. By extracting features from the image on the focal plane, data which is digitized and transferred is reduced. As a consequence, SCAMP-5 offers a high frame rate while maintaining low energy consumption. Here, we present BIT-VO, which is, to the best of our knowledge, the first 6 Degrees of Freedom visual odometry algorithm which utilises the FPSP. Our entire system operates at 300 FPS in a natural scene, using binary edges and corner features detected by the SCAMP-5.

Comments:	8 pages, 16 figures
Subjects:	Computer Vision and Pattern Recognition (cs.CV)
Cite as:	arXiv:2004.11186 [cs.CV]
(or arXiv:2004.11186v1 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2004.11186 Focus to learn more arXiv-issued DOI via DataCite
Journal reference:	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 8579-8586
Related DOI:	https://doi.org/10.1109/IROS45743.2020.9341151 Focus to learn more DOI(s) linking to related resources

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From: Riku Murai [view email] [v1] Thu, 23 Apr 2020 14:26:16 UTC (6,643 KB) Full-text links:

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