1 / 6

Guess the Depth

REMINGTON GONG BENJAMIN HARRIS IURI PRILEPOV. Guess the Depth. WHAT WE HAVE DONE. Created a profiler to sample current performance of feature tracking Useful for deciding which of next stages are worth implementing on GPU Started the eight-point algorithm implementation

mercia
Download Presentation

Guess the Depth

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. REMINGTON GONG BENJAMIN HARRIS IURI PRILEPOV Guess the Depth

  2. WHAT WE HAVE DONE... • Created a profiler to sample current performance of feature tracking • Useful for deciding which of next stages are worth implementing on GPU • Started the eight-point algorithm implementation • Researched SVD-based methods for recovering rotation and translation between correspondence pairs

  3. FEATURE TRACKING PERFORMANCE • Setup: • Video - 640x320 @ 24Hz • Laptop - Intel Core 2 T7500, NVIDIA 8600M GT Note: Average times do not sum to total average time since some phases (i.e. new feature selection) are not always computed.

  4. Performance Observations • Feature tracking on GPU is fast, but GPU memory copy-back during feature selection hurts (5 ms) • Convolution is expensive on GPU due to numerous texture fetches despite trivial parallelism • Lots of room for improvement, but currently capable of 35Hz • Several stages still to be implemented

  5. Eight-Point Algorithm • Recover 3D coordinates from a set of point correspondences between two frames • Least-squares approximation of the Essential Matrix (camera movement) • SVD – Jama linear algebra package • Normalization of input coordinates

  6. OUR ROAD MAP... • Structure From Motion • Complete eight-point algorithm implementation with the normalization of input coordinates • Mesh Generation • Delaunay refinement mesh generation • Texture Mapping

More Related