Efficient Stereo Visual Odometry on FPGA Featuring On-Chip Map Management and Pipelined Descriptor-Based Block Matching

Efficient Stereo Visual Odometry on FPGA Featuring On-Chip Map Management and Pipelined Descriptor-Based Block Matching

Due to its ability to capture natural light without emitting additional signals, a stereo camera is a promising option for low-power visual odometry (VO). However, achieving real-time processing of VO using a stereo camera on embedded CPUs and GPUs is challenging due to the high computational demand...

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Bibliographic Details
Main Authors: Yuki Ichikawa, Kazushi Kawamura, Masato Motomura, Thiem van Chu
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Visual odometry
stereo matching
ORB
FPGA
Online Access:https://ieeexplore.ieee.org/document/10689404/
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