A real-time and high precision hardware implementation of RANSAC algorithm for visual SLAM achieving mismatched feature point pair elimination
W He, Z Lu, X Liu, Z Xu, J Zhang… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
The visual SLAM (vSLAM) algorithm is becoming a research hotspot in recent years
because of its low cost and low delay. Due to the advantage of fitting irregular data input …
because of its low cost and low delay. Due to the advantage of fitting irregular data input …
Pesac, the generalized framework for ransac-based methods on simd computing platforms
This paper focuses on the computational optimization of RANSAC. We describe the Parallel
Efficient Sample Consensus (PESAC) framework that allows efficient utilization of SIMD …
Efficient Sample Consensus (PESAC) framework that allows efficient utilization of SIMD …
[PDF][PDF] A practical method for decomposition of the essential matrix
One well-known approach for reconstruction of a 3D object from two images obtained by
calibrated cameras is based on the essential matrix computation. The extrinsic camera …
calibrated cameras is based on the essential matrix computation. The extrinsic camera …
FPGA based system for real-time structure from motion computation
In this paper a system for real-time structure from motion computation is presented. The
module is dedicated for a video based Advanced Driver Assistance System, where …
module is dedicated for a video based Advanced Driver Assistance System, where …
The architecture of an embedded smart camera for intelligent inspection and surveillance
Real time video surveillance and inspection is complex task, requiring processing large
amount of image data. Performing this task in each node of a multi-camera system requires …
amount of image data. Performing this task in each node of a multi-camera system requires …
FPGA implementation of RANSAC algorithm for real-time image geometry estimation
Random Sample Consensus (RANSAC) is commonly used in many estimation tasks
especially in computer vision applications due to its simplicity. This paper presents a …
especially in computer vision applications due to its simplicity. This paper presents a …
The EKF-based visual SLAM system with relative map orientation measurements
This paper presents the extension of the feature-based, visual SLAM with additional
measurements of the relative orientation between the current and past poses of the camera …
measurements of the relative orientation between the current and past poses of the camera …
Hardware architecture for projective model calculation and false match refining using random sample consensus algorithm
The projective model is an important map** function for the calculation of global
transformation between two images. However, its hardware implementation is challenging …
transformation between two images. However, its hardware implementation is challenging …
Visual simultaneous localization and map** with direct orientation change measurements
This paper presents an extension of the visual simultaneous localization and map**
(VSLAM) system with the direct measurements of the robot's orientation change. Four …
(VSLAM) system with the direct measurements of the robot's orientation change. Four …
[PDF][PDF] On augmenting the visual slam with direct orientation measurement using the 5-point algorithm
This paper presents the attempt to merge two paradigms of the visual robot navigation:
Visual Simultaneous Localization and Map** (VSLAM) and Visual Odometry (VO). The …
Visual Simultaneous Localization and Map** (VSLAM) and Visual Odometry (VO). The …