Parallelizing Disparity Matching and ML
Posted: Wed Aug 28, 2019 5:01 pm
Nerian,
Would it be possible to pass images directly through the scene scan rather than packaging them up with the disparity map after it has been processed? This would be extremely useful for anyone doing any ML/object detection on the images prior to depth estimation. Given the typical latency on the depth maps (~50ms ish), this would match up perfectly with inference times for object detection and would cut overall perception system latencies by a significant amount. For our system for example, the scene scan latency accounts for 30% of the overall system latency which could be eliminated entirely if the images were passed through without waiting for the disparity matching to be complete.
Maybe this is already a feature?
Thanks for your time
-Kieran
Would it be possible to pass images directly through the scene scan rather than packaging them up with the disparity map after it has been processed? This would be extremely useful for anyone doing any ML/object detection on the images prior to depth estimation. Given the typical latency on the depth maps (~50ms ish), this would match up perfectly with inference times for object detection and would cut overall perception system latencies by a significant amount. For our system for example, the scene scan latency accounts for 30% of the overall system latency which could be eliminated entirely if the images were passed through without waiting for the disparity matching to be complete.
Maybe this is already a feature?
Thanks for your time
-Kieran