Visual odometry becomes an important method to deal the localization work in intelligent vehicle and robotics. A high performance visual odometry needs to achieve two requirements: high accuracy and high frequency. So we propose a two-stage local binocular bundle adjustment algorithm doing the optimization and construct a parallel pipeline using GPU acceleration. Finally, our system can run at about 35∼40 frames per second with the maximum RMS 3D localization error less than 1%.


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    Title :

    High-performance visual odometry with two-stage local binocular BA and GPU


    Contributors:
    Lu, Wei (author) / Xiang, Zhiyu (author) / Liu, Jilin (author)


    Publication date :

    2013-06-01


    Size :

    1075062 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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