[Submitted on 14 Jun 2024]
View a PDF of the paper titled PixRO: Pixel-Distributed Rotational Odometry with Gaussian Belief Propagation, by Ignacio Alzugaray and 2 other authors
Abstract:Visual sensors are not only becoming better at capturing high-quality images but also they have steadily increased their capabilities in processing data on their own on-chip. Yet the majority of VO pipelines rely on the transmission and processing of full images in a centralized unit (e.g. CPU or GPU), which often contain much redundant and low-quality information for the task. In this paper, we address the task of frame-to-frame rotational estimation but, instead of reasoning about relative motion between frames using the full images, distribute the estimation at pixel-level. In this paradigm, each pixel produces an estimate of the global motion by only relying on local information and local message-passing with neighbouring pixels. The resulting per-pixel estimates can then be communicated to downstream tasks, yielding higher-level, informative cues instead of the original raw pixel-readings. We evaluate the proposed approach on real public datasets, where we offer detailed insights about this novel technique and open-source our implementation for the future benefit of the community.
Submission history
From: Ignacio Alzugaray [view email]
[v1]
Fri, 14 Jun 2024 05:28:45 UTC (2,270 KB)
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