In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@inproceedings{Murai:2021:10.1109/IROS45743.2020.9341151,
author = {Murai, R and Saeedi, S and Kelly, P},
doi = {10.1109/IROS45743.2020.9341151},
pages = {8579--8586},
publisher = {IEEE},
title = {BIT-VO: visual odometry at 300 FPS using binary features from the focal plane},
url = {http://dx.doi.org/10.1109/IROS45743.2020.9341151},
year = {2021}
}
TY - CPAPER
AB - 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 digitised and transferred is reduced. As a consequence, SCAMP-5 offers a high frame rate while maintaining low energy consumption. Here, we present BITVO, which is the first 6-Degrees of Freedom visual odometry algorithm which utilises the FPSP. Our entire system operates at 300 FPS in a natural environment, using binary edges and corner features detected by the SCAMP-5.
AU - Murai,R
AU - Saeedi,S
AU - Kelly,P
DO - 10.1109/IROS45743.2020.9341151
EP - 8586
PB - IEEE
PY - 2021///
SP - 8579
TI - BIT-VO: visual odometry at 300 FPS using binary features from the focal plane
UR - http://dx.doi.org/10.1109/IROS45743.2020.9341151
UR - http://hdl.handle.net/10044/1/88149
ER -
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