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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 7
1966-1972

High-speed computing of pyramid LK optical flow based on embedded GPU

Sun Ruixin1
Zhu Guoliang2
Xie Shuangyi1
Guo Xueliang3
Chai Zhilei1,4
1. School of Artificial Intelligence & Computer Science, Jiangnan University, Wuxi Jiangsu 214122, China
2. Wuxi Institute of Advanced Technology, Wuxi Jiangsu 214125, China
3. UISEE(Shanghai)Automotive Technologies Ltd. , Shanghai 201807, China
4. Jiangsu Provincial Engineering Laboratory of Pattern Recognition & Computational Intelligence, Wuxi Jiangsu 214122, China
DOI: 10.19734/j.issn.1001-3695.2021.12.0675

Abstract

Real-time calculation of high-precision forward-backward pyramid LK optical flow on embedded computing platform has become the decisive factor of whether the algorithm can be used in realistic scenarios such as autonomous driving. This paper presented a feature extraction method based on mesh division and a new forward-backward constraint method. To address the load unbalance in the optical flow calculation process, this paper proposed a dynamic window-based pyramid model. It also reduced the calculation bit width to further improve the overall performance. Using the 720P videos in realistic scenarios, this method yields significant performance gained over the GPU optimized version of OpenCV by 4.1 times on the embedded GPU platform TX2 and achieved 30 fps performance. It helped the SLAM system increase the frame rate to 28 fps in real car scene. This method improves the accuracy of the pose and point cloud in realistic scenarios, meeting the real-time application requirements of vehicle scenarios.

Foundation Support

国家自然科学基金资助项目(61972180)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.12.0675
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 7
Section: Algorithm Research & Explore
Pages: 1966-1972
Serial Number: 1001-3695(2022)07-007-1966-07

Publish History

[2022-02-24] Accepted Paper
[2022-07-05] Printed Article

Cite This Article

孙瑞鑫, 朱国梁, 谢双镱, 等. 基于嵌入式GPU的pyramid LK光流法高速计算方法研究 [J]. 计算机应用研究, 2022, 39 (7): 1966-1972. (Sun Ruixin, Zhu Guoliang, Xie Shuangyi, et al. High-speed computing of pyramid LK optical flow based on embedded GPU [J]. Application Research of Computers, 2022, 39 (7): 1966-1972. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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