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%.
High-performance visual odometry with two-stage local binocular BA and GPU
2013 IEEE Intelligent Vehicles Symposium (IV) ; 1107-1112
2013-06-01
1075062 byte
Conference paper
Electronic Resource
English
HIGH-PERFORMANCE VISUAL ODOMETRY WITH TWO-STAGE LOCAL BINOCULAR BA AND GPU
British Library Conference Proceedings | 2013
|British Library Conference Proceedings | 2004
|IEEE | 2004
|TIBKAT | 2018
|Practical Infrared Visual Odometry
IEEE | 2016
|