FPGA Implementation of the Robust Essential Matrix Estimation with RANSAC and the 8-Point and the 5-Point Method
نویسندگان
چکیده
This paper presents a FPGA-based multiprocessor system for the essential matrix estimation from a set of point correspondences containing outliers. The estimation is performed using two methods: the 8-point and the 5-point algorithm, and complemented with robust estimation. The description of the architecture and the hardware-specific design considerations are given. Performance and resource use depending on the chosen method and the number of processing cores are also given.
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