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

Angladon, Vincent and Gasparini, Simone and Charvillat, Vincent and Pribanić, Tomislav and Petković, Tomislav and Donlić, Matea and Ahsan, Benjamin and Bruel, Frédéric An evaluation of real-time RGB-D visual odometry algorithms on mobile devices. (2017) Journal of Real-Time Image Processing, 14 (54). 1-18. ISSN 1861-8200

(Document in English)

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Official URL: https://dx.doi.org/10.1007/s11554-017-0670-y


We present an evaluation and a comparison of different Visual Odometry algorithms, selected to be tested on a mobile device equipped with an 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.

Item Type:Article
Additional Information:Thanks to Springer editor. The original PDF of the article can be found at https://link.springer.com/article/10.1007%2Fs11554-017-0670-y
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > TELEQUID (FRANCE)
Other partners > Sveučilište u Zagrebu (CROATIA)
Laboratory name:
CIFRE grant ANRT - French Croatian Program “Cogito”, Hubert Curien partnership - Croatian Science Foundation
Deposited On:07 Dec 2017 10:39

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