Visual Odometry at 300 FPS using Binary Features from the Focal Plane

Riku Murai1 Sajad Saeedi2 Paul H. J. Kelly1
1. Imperial College London 2. Ryerson University
[paper] [video]


Focal-plane Sensor-processor (FPSP) is a next-generation came ra technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where the light intensity is captured. SCAMP-5 is a general-purpose FPSP used in this work and it carries out computations in the analog domain before analog to digital conversion. By extracting features from the image on the focal plane, data which is digitized and transferred is reduced. As a consequence, SCAMP-5 offers a high frame rate while maintaining low energy consumption. Here, we present BIT-VO, which is, to the best of our knowledge, the first 6 Degrees of Freedom visual odometry algorithm which utilises the FPSP. Our entire system operates at 300 FPS in a natural scene, using binary edges and corner features detected by the SCAMP-5.

Demo Video

Test sequences used in the paper.


We would like to thank Piotr Dudek, Stephen J. Carey, and Jianing Chen at the University of Manchester for kindly providing access to SCAMP-5. For more information about SCAMP-5, please visit