5 Algorithm Flow: SFM-Based OG Mapping

The algorithm flow of the SFM based OG Mapping algorithm described in this application report is shown in Figure 5-1.

Figure 5-1 SFM-Based Occupancy Grid Mapping Algorithm Flow

It is important to note that some of the subtasks such as the Dense Optical Flow (DOF) block, Image Pyramid Formation and Image Processing need to be performed on hardware accelerators (HWAs) because without hardware acceleration, these processing intensive tasks cannot be performed in real-time.