公开(公告)号：US20170193311A1

公开(公告)日：2017-07-06

申请号：US15346491

申请日：2016-11-08

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： DEEPAK KUMAR PODDAR ,  SHYAM JAGANNATHAN ,  SOYEB NAGORI ,  PRAMOD KUMAR SWAMI

IPC: G06K9/00 ,  G06F15/80 ,  G06K9/52 ,  B60R11/04 ,  G06T15/20 ,  G06F9/30 ,  G05D1/02

CPC classification number: G06K9/00791 ,  G05D1/0253 ,  G05D2201/0213 ,  G06F9/30007 ,  G06F15/8007 ,  G06K9/52 ,  G06T3/4038

Abstract: A vehicular structure from motion (SfM) system can include an input to receive a sequence of image frames acquired from a camera on a vehicle and an SIMD processor to process 2D feature point input data extracted from the image frames so as to compute 3D points. For a given 3D point, the SfM system can calculate partial ATA and partial ATb matrices outside of an iterative triangulation loop, reducing computational complexity inside the loop. Multiple tracks can be processed together to take full advantage of SIMD instruction parallelism.