CNN-based Feature-point Extraction for Real-time Visual SLAM on Embedded FPGA.
Zhilin XuJincheng YuChao YuHao ShenYu WangHuazhong YangPublished in: FCCM (2020)
Keyphrases
- visual slam
- real time
- feature points
- camera motion
- monocular camera
- bundle adjustment
- epipolar geometry
- dynamic environments
- image sequences
- point correspondences
- pose estimation
- camera parameters
- motion parameters
- feature matching
- simultaneous localization and mapping
- face images
- image processing
- structure from motion
- fundamental matrix
- visual odometry