Affiliations: [a] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, P.R. China | [b] Guangdong Provincial Key Laboratory of Automotive Engineering, Guangzhou, P.R. China
Abstract: In view of the disadvantages of the existing pose estimation algorithm, which has low real-time performance and the positioning accuracy will be greatly reduced in dynamic scene, a compound deep learning and parallel computing algorithm (DP-PE) is proposed. The detection algorithm based on deep learning is used to detect dynamic objects in the environment, and the dynamic feature points are removed before the matching of feature points to reduce the impact of dynamic objects on the positioning accuracy; A method for distinguishing “pseudo-dynamic objects” is proposed to solve the problem that the stationary vehicles and pedestrians in the environment are regarded as dynamic objects. The parallel computing framework for feature point extraction and matching is established on CPU-GPU heterogeneous platform to speed up DP-PE; In the localization part of DP-PE, we propose a 3D interior point detection strategy to achieve parallel search of map points, and the saturated linear kernel function is used to act on reprojection error to realize the parallelization of pose optimization. We verify the algorithm on KITTI dataset, the experimental results show that average speedup ratio of feature point extraction and matching is 6.5 times, and the overall computational efficiency of DP-PE is about 7 times higher than that before acceleration, which can realize high precision and efficient pose estimation in dynamic scene.
Keywords: Intelligent vehicle, visual pose estimation, deep learning, parallel computing
