论文标题
BIT-VO：使用焦平面的二进制特征在300 fps处的视觉进程仪
BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane
论文作者
论文摘要
焦平面传感器处理器（FPSP）是一种下一代相机技术，它使传感器芯片上的每个像素都能在捕获光强度的焦平面上并行执行计算。 SCAMP-5是这项工作中使用的通用FPSP，它在类似于数字转换之前的模拟域中进行了计算。通过从焦平面上的图像中提取特征，可以减少数字化和传输的数据。结果，SCAMP-5在保持低能消耗的同时提供了高帧速率。在这里，我们介绍了Bit-VO，据我们所知，这是使用FPSP的前6度视觉探光算法。我们的整个系统在自然场景中使用SCAMP-5检测到的二进制边缘和角功能在自然场景中以300 fps的速度运行。
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 digitized and transferred is reduced. As a consequence, SCAMP-5 offers a high frame rate while maintaining low energy consumption. Here, we present BIT-VO, which is, to the best of our knowledge, the first 6 Degrees of Freedom visual odometry algorithm which utilises the FPSP. Our entire system operates at 300 FPS in a natural scene, using binary edges and corner features detected by the SCAMP-5.
