Abstract
With the growing use of smartphones, generating depth-map to accompany user acquisitions is becoming increasingly important for both manufacturers and consumers. Depth from Small Motion (DfSM) has been shown to be suitable approach since depth-maps can be generated with minimal effort such as handshaking motion, and without knowing camera calibration parameter. Direct porting of a desktop PC implementation of DfSM on mobile devices propose a major challenge due to its long execution time. The algorithm has been designed to run on desktop computers that have higher energy-efficient optimizations compared to mobile device with slower processors.
In this paper, we investigate ways to speed up the DfSM algorithm to run faster on mobile devices. After porting the algorithm to the mobile platform, we applied several optimization techniques using mobile CPU-GPU co-processing by exploiting OpenCL capabilities. We evaluate the impact of our optimizations on performance, memory allocation, and demonstrate about 3\(\times \) speedup over mobile CPU implementation. We also show the portability of our optimizations by running on two different ANDROID devices.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Koenderink, J.J., Van Doorn, A.J.: Affine structure from motion. J. Opt. Soc. Am. A 8(2), 377–385 (1991)
Munshi, A., Gaster, B., Mattson, T.G., Fung, J., Ginsburg, D.: OpenCL Programming Guide, 1st edn. Addison-Wesley Professional, Boston (2011)
Khronos Group: The OpenCL Specification v2.1 (2017). https://www.khronos.org/opencl
Huber, P.J.: Robust estimation of a location parameter. In: Kotz, S., Johnson, N.L. (eds.) Breakthroughs in Statistics: Methodology and Distribution. SSS, pp. 492–518. Springer, New York (1992). https://doi.org/10.1007/978-1-4612-4380-9_35
Agarwal, S., Mierle, K., et al.: Ceres Solver (2012). http://ceres-solver.org
Yu, F., Gallup, D.: 3D reconstruction from accidental motion. In: IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2014, pp. 3986–3993 (2014)
Joshi, N., Zitnick, L.: Micro-baseline stereo. Microsoft Research Technical report, MSR-TR-2014-73, May 2014
Ha, H., Im, S., Park, J., Jeon, H.-G., Kweon, I.-S.: High-quality depth from uncalibrated small motion clip. In: IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2016, pp. 5413–5421 (2016)
Schänberger, J.L., Frahm, J.: Structure-from-motion revisited. In: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 4104–4113 (2016)
Corcoran, P., Javidnia, H.: Accurate depth map estimation from small motions. In: IEEE International Conference on Computer Vision Workshops (ICCVW), pp. 2453–2461 (2017)
Ham, C., Chang, M., Lucey, S., Singh, S.: Monocular depth from small motion video accelerated. In: International Conference on 3D Vision (3DV), pp. 575–583 (2017)
Lopez, M., Nykänen, H., Hannuksela, J., Silven, O., Vehvilainen, M.: Accelerating image recognition on mobile devices using GPGPU. In: Proceedings of the SPIE, pp. 7872–7882 (2011)
Rister, B., Wang, G., Wu, M., Cavallaro, J.R.: A fast and efficient sift detector using the mobile GPU. In: IEEE International Conference on Acoustics, Speech and Signal Processing, pp. 2674–2678 (2013)
Backes, L., Rico, A., Franke, B.: Experiences in speeding up computer vision applications on mobile computing platforms. In: International Conference on Embedded Computer Systems: Architectures, Modeling, and Simulation (SAMOS), pp. 1–8 (2015)
Wang, H., Yun, J., Bourd, A.: OpenCL optimization and best practices for Qualcomm adreno GPUs. In: Proceedings of the International Workshop on OpenCL, IWOCL 2018, pp. 16:1–16:8 (2018)
Harris, C., Stephens, M.: A combined corner and edge detector. In: Proceedings of the 4th Alvey Vision Conference, pp. 147–151 (1988)
Lucas, B.D., Kanade, T.: An iterative image registration technique with an application to stereo vision. In: Proceedings of the 7th International Joint Conference on Artificial Intelligence, IJCAI 1981, vol. 2, pp. 674–679 (1981)
Shi, J., Tomasi, C.: Good features to track. In: Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, pp. 593–600 (1994)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press, New York (2003)
Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment—a modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) IWVA 1999. LNCS, vol. 1883, pp. 298–372. Springer, Heidelberg (2000). https://doi.org/10.1007/3-540-44480-7_21
Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 22(11), 1330–1334 (2000)
Heikkila, J., Silven, O.: A four-step camera calibration procedure with implicit image correction. In: Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR 1997), pp. 1106–1112 (1997)
Collins, R.T.: A space-sweep approach to true multi-image matching. In: Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 358–363 (1996)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Fasogbon, P., Aksu, E., Heikkilä, L. (2019). Demo: Accelerating Depth-Map on Mobile Device Using CPU-GPU Co-processing. In: Vento, M., Percannella, G. (eds) Computer Analysis of Images and Patterns. CAIP 2019. Lecture Notes in Computer Science(), vol 11678. Springer, Cham. https://doi.org/10.1007/978-3-030-29888-3_7
Download citation
DOI: https://doi.org/10.1007/978-3-030-29888-3_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-29887-6
Online ISBN: 978-3-030-29888-3
eBook Packages: Computer ScienceComputer Science (R0)