Acceleration of Optical Flow Computations on Tightly-Coupled Processor Arrays

2013 ◽  
Vol 30 (1) ◽  
pp. 80-89 ◽  
Author(s):  
Éricles Rodrigues Sousa ◽  
Alexandru Tanase ◽  
Vahid Lari ◽  
Frank Hannig ◽  
Jürgen Teich ◽  
...  

2013 ◽  
Vol 18 (1) ◽  
pp. 1-25 ◽  
Author(s):  
Vahid Lari ◽  
Shravan Muddasani ◽  
Srinivas Boppu ◽  
Frank Hannig ◽  
Moritz Schmid ◽  
...  


Author(s):  
Chang Chen ◽  
Hua Zhu

Purpose This study aims to present a visual-inertial simultaneous localization and mapping (SLAM) method for accurate positioning and navigation of mobile robots in the event of global positioning system (GPS) signal failure in buildings, trees and other obstacles. Design/methodology/approach In this framework, a feature extraction method distributes features on the image under texture-less scenes. The assumption of constant luminosity is improved, and the features are tracked by the optical flow to enhance the stability of the system. The camera data and inertial measurement unit data are tightly coupled to estimate the pose by nonlinear optimization. Findings The method is successfully performed on the mobile robot and steadily extracts the features on low texture environments and tracks features. The end-to-end error is 1.375 m with respect to the total length of 762 m. The authors achieve better relative pose error, scale and CPU load than ORB-SLAM2 on EuRoC data sets. Originality/value The main contribution of this study is the theoretical derivation and experimental application of a new visual-inertial SLAM method that has excellent accuracy and stability on weak texture scenes.



2019 ◽  
Vol 14 (8) ◽  
pp. 541-556
Author(s):  
Christian Heidorn


2021 ◽  
Author(s):  
Christian Heidorn ◽  
Dominik Walter ◽  
Yunus Emre Candir ◽  
Frank Hannig ◽  
Jurgen Teich


Author(s):  
Alexander Brant ◽  
Ameer Abdelhadi ◽  
Douglas H. H. Sim ◽  
Shao Lin Tang ◽  
Michael Xi Yue ◽  
...  


2014 ◽  
Vol 13 (4s) ◽  
pp. 1-29 ◽  
Author(s):  
Frank Hannig ◽  
Vahid Lari ◽  
Srinivas Boppu ◽  
Alexandru Tanase ◽  
Oliver Reiche


2013 ◽  
Vol 46 (30) ◽  
pp. 251-256 ◽  
Author(s):  
Simon Lynen ◽  
Sammy Omari ◽  
Matthias Wüest ◽  
Markus Achtelik ◽  
Roland Siegwart


2014 ◽  
Vol 12 ◽  
pp. 103-109 ◽  
Author(s):  
E. Glocker ◽  
S. Boppu ◽  
Q. Chen ◽  
U. Schlichtmann ◽  
J. Teich ◽  
...  

Abstract. This contribution provides an approach for emulating the behaviour of an ASIC temperature monitoring system (TMon) during run-time for a tightly-coupled processor array (TCPA) of a heterogeneous invasive multi-tile architecture to be used for FPGA prototyping. It is based on a thermal RC modeling approach. Also different usage scenarios of TCPA are analyzed and compared.



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