Details of Research Outputs

Scene flow is a key function of stereo-based environment perception system for mobile robotics and autonomous vehicle. Due to the heavy computing requirement and the limited computing resource, parallelized and embedded algorithms become quite important for the application of the mobile robotics. This paper develops a cross-platform embedded scene flow algorithm by using a coarse-grained software pipeline and OpenCL programming language. Our OpenCL algorithm is tested on 10 video streams from different datasets with different scenarios on different commercial-off-The-shelf (COTS) hardware. The average frame rates for the 10 videos can reach about 50 fps on both GPU and mobile device. The peak frame rates for certain videos on GPU can reach almost 450 fps. We also demonstrate that the COTS platform can provide sufficient computing power for stereo-based perception algorithm potentially by using OpenCL programming.