Image optical flow calculation method, device and equipment based on embedded GPU (Graphics Processing Unit)

Abstract

The invention discloses an image optical flow calculation method, device and equipment based on an embedded GPU and a computer readable storage medium. A Gaussian pyramid model is established for a to-be-detected image collected in a vehicle-mounted process, the size of a detection window is dynamically adjusted and calculated according to the characteristics of an embedded GPU and the number of layers of the Gaussian pyramid model, and a single-precision floating point calculation instruction and a half-precision floating point calculation instruction are converted through the GPU. And calculating the optical flow of the feature points in the to-be-detected image. According to the method, the dynamic window of the pyramid layer is established, the problem that GPU thread loads are uneven when the LK optical flow method is calculated is solved, a single-precision floating point calculation instruction and a half-precision floating point calculation instruction are converted through the GPU, calculation of the LK optical flow method is optimized, and therefore the optical flow calculation efficiency is improved.

Description

technical field [0001] The present invention relates to the field of artificial intelligence, in particular to an image optical flow calculation method, device, equipment and computer-readable storage medium based on an embedded GPU. Background technique [0002] The rapid development of parallel computing in recent years provides a good solution to solve the problems of large amount of calculation and high degree of parallelism. The real-time performance of optical flow calculation can be greatly improved by parallel acceleration of modules that require complex processing in the optical flow algorithm. [0003] By analyzing the optical flow calculation implemented by OpenCV, it can be found that thread blocks are organized into a two-dimensional form, and a thread block is used to process the calculation of a window. When an 8*8 thread block is used to process a 21*21 window When calculating optical flow of different sizes, there will be a problem of uneven thread calculat...

AI Technical Summary

Problems solved by technology

[0007] The object of the present invention is to provide an image optical flow calculation method, device, equipment and computer-readable storage medium based on an embedded GPU to solve the optical flow calculation process The problem of unbalanced load and low calculation efficiency of optical flow

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