A full-size SuperPoint CNN, quantised to 3 bits and implemented with the FINN framework, runs at 54 FPS on a ZCU102 FPGA for visual odometry, but with noticeably degraded trajectory accuracy.
Cnn-based feature- point extraction for real-time visual slam on embedded fpga,
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Hardware-Aware Feature Extraction Quantisation for Real-Time Visual Odometry on FPGA Platforms
A full-size SuperPoint CNN, quantised to 3 bits and implemented with the FINN framework, runs at 54 FPS on a ZCU102 FPGA for visual odometry, but with noticeably degraded trajectory accuracy.