BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane

@article{Murai2020BITVOVO,
  title={BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane},
  author={Riku Murai and Sajad Saeedi and P. Kelly},
  journal={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2020},
  pages={8579-8586}
}
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… Expand
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