PicoVO: A Lightweight RGB-D Visual Odometry Targeting Resource-Constrained IoT Devices
Yuquan He Ying Wang Cheng Liu Lei Zhang Yuquan He Ying Wang Cheng Liu Lei Zhang
Ego-motion estimation with 3D perception using visual odometry (VO) is known to be robust and economical among the existing odometry techniques. However, existing VO solutions are typically both computation intensive and memory intensive, which dramatically inhibits their deployment in IoT platforms such as robotic vehicles and handheld devices mostly equipped with resource-constrained MCU-level p...