An evaluation of real-time RGB-D visual odometry algorithms on mobile devices

被引：0
|
作者：
Vincent Angladon
Simone Gasparini
Vincent Charvillat
Tomislav Pribanić
Tomislav Petković
Matea Ðonlić
Benjamin Ahsan
Frédéric Bruel
机构：
[1] Université de Toulouse,INPT–IRIT
[2] Telequid,Faculty of Electrical Engineering and Computing
[3] University of Zagreb,undefined
来源：
Journal of Real-Time Image Processing | 2019年 / 16卷
关键词：
RGB-D Camera; Visual odometry; Benchmark; Mobile device;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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 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.
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页码：1643 / 1660
页数：17
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