# CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation

### Safa Ouerghi, Remi Boutteau, Xavier Savatier, Fethi Tlili

#### Abstract

Egomotion estimation is a fundamental issue in structure from motion and autonomous navigation for mobile robots. Several camera motion estimation methods from a set of variable number of image correspondances have been proposed. Five-point methods represent the minimal number of required correspondences to estimate the essential matrix, raised special interest for their application in a hypothesize-and-test framework. This algorithm allows relative pose recovery at the expense of a much higher computational time when dealing with higher ratios of outliers. To solve this problem with a certain amount of speedup, we propose in this work, a CUDA-based solution for the essential matrix estimation performed using the Grobner basis version of 5-point algorithm, complemented with robust estimation. The description of the hardware-specific implementation considerations as well as the parallelization methods employed are given in detail. Performance analysis against existing CPU implementation is also given, showing a speedup 4 times faster than the CPU for an outlier ratio e = 0.5, common for the essential matrix estimation from automatically computed point correspondences. More speedup was shown when dealing with higher outlier ratios.

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#### Paper Citation

#### in Harvard Style

Ouerghi S., Boutteau R., Savatier X. and Tlili F. (2017). **CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation** . In *Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2017)* ISBN 978-989-758-225-7, pages 107-114. DOI: 10.5220/0006171501070114

#### in Bibtex Style

@conference{visapp17,

author={Safa Ouerghi and Remi Boutteau and Xavier Savatier and Fethi Tlili},

title={CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation},

booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2017)},

year={2017},

pages={107-114},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0006171501070114},

isbn={978-989-758-225-7},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 4: VISAPP, (VISIGRAPP 2017)

TI - CUDA Accelerated Visual Egomotion Estimation for Robotic Navigation

SN - 978-989-758-225-7

AU - Ouerghi S.

AU - Boutteau R.

AU - Savatier X.

AU - Tlili F.

PY - 2017

SP - 107

EP - 114

DO - 10.5220/0006171501070114