1. An evaluation of real-time RGB-D visual odometry algorithms on mobile devices
- Author
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Benjamin Ahsan, Tomislav Pribanić, Frédéric Bruel, Matea Ðonlić, Vincent Charvillat, Simone Gasparini, Tomislav Petković, Vincent Angladon, Centre National de la Recherche Scientifique - CNRS (FRANCE), Institut National Polytechnique de Toulouse - INPT (FRANCE), Université Toulouse III - Paul Sabatier - UT3 (FRANCE), Université Toulouse - Jean Jaurès - UT2J (FRANCE), Université Toulouse 1 Capitole - UT1 (FRANCE), TELEQUID (FRANCE), Sveučilište u Zagrebu (CROATIA), Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE), Real Expression Artificial Life (IRIT-REVA), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Telequid, Aucune, Institut National Polytechnique (Toulouse) (Toulouse INP), Faculty of Electrical Engineering and Computing [Zagreb] (FER), and University of Zagreb
- Subjects
Visual Odometry ,Computer science ,Mobile device ,02 engineering and technology ,Benchmark ,01 natural sciences ,ACM: I.: Computing Methodologies/I.4: IMAGE PROCESSING AND COMPUTER VISION/I.4.8: Scene Analysis/I.4.8.12: Tracking ,Odometry ,0202 electrical engineering, electronic engineering, information engineering ,Computer vision ,RGB-D Camera ,Visual odometry ,Measure (data warehouse) ,business.industry ,ACM: I.: Computing Methodologies/I.4: IMAGE PROCESSING AND COMPUTER VISION ,020208 electrical & electronic engineering ,010401 analytical chemistry ,ACM: I.: Computing Methodologies/I.5: PATTERN RECOGNITION/I.5.4: Applications/I.5.4.0: Computer vision ,[INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] ,Systèmes embarqués ,0104 chemical sciences ,RGB color model ,Artificial intelligence ,Robotique ,business ,Algorithm ,Information Systems - Abstract
International audience; We present an evaluation and a comparison of different Visual Odometry algorithms, selected to be tested on a mobile device equipped with a RGB-D camera. The most promising algorithms from the literature are tested on different mobile devices, some equipped with the Structure Sensor. We evaluate the accuracy of each selected algorithm as well as the the memory and CPU consumption, and we show that even without specific optimization, some of them can provide a reliable measure of the device motion in real time.
- Published
- 2017