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GPU_KLT: A GPU-based Implementation of the
Kanade-Lucas-Tomasi Feature Tracker

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GPU_KLT is a C++ implementation using OpenGL/Cg, of the popular KLT feature tracker which runs primarily on the graphics processing unit (GPU). The GPU implementation emulates the implementation by Birchfield[1] of the KLT algorithm proposed by Lucas and Kanade [1] and Tomasi and Kanade [2].

GPU_KLT tracks approximately 1000 feature points within 1024x768 resolution video at 30 Hz on an ATI 1900 XT and at 25 Hz on a Nvidia Geforce 7900 GTX. It can thus be used for real-time vision applications.

Platforms (WinXP, Linux)

Source code is provided for WinXP and Linux. Yucheng Low (ylow@andrew.cmu.edu) and Christopher Geyer (cgeyer@cs.cmu.edu) at the Robotics Institute, Carnegie Melon University ported the project to Linux and have agreed to share it with the research community. Check below for the link to the src code.

The windows version has been tested on various NVidia and ATI cards listed below. The Linux version has been tested with a NVidia 7600GT. The Firewire camera input functionality hasn't been tested on Linux.

SIFT Feature Extraction on the GPU

If you are interested in an implementation of SIFT FEATURE EXTRACTION on the GPU, please go to ChangChang Wu's SiftGPU page here

GPU vs. CPU timings

 

 

Video

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Additional Data:

Publication

Sudipta N Sinha, Jan-Michael Frahm, Marc Pollefeys and Yakup Genc, "GPU-Based Video Feature Tracking and Matching", EDGE 2006, workshop on Edge Computing Using New Commodity Architectures, Chapel Hill, May 2006. [pdf]

Sudipta N Sinha, Jan-Michael Frahm, Marc Pollefeys and Yakup Genc, "GPU-Based Video Feature Tracking and Matching", Technical Report 06-012, Department of Computer Science, UNC Chapel Hill, May 2006. [pdf]

Sudipta N Sinha, Jan-Michael Frahm, Marc Pollefeys and Yakup Genc, "Feature Tracking and Matching in Video Using Programmable Graphics Hardware", submitted to Machine Vision and Applications, July 2006.

References

[1] Stan Birchfield. KLT: An Implementation of the Kanade-Lucas-Tomasi Feature Tracker

[2] Bruce D. Lucas and Takeo Kanade. An Iterative Image Registration Technique with an Application to Stereo Vision. International Joint Conference on Artificial Intelligence, pages 674-679, 1981.

[3] Carlo Tomasi and Takeo Kanade. Detection and Tracking of Point Features. Carnegie Mellon University Technical Report CMU-CS-91-132, April 1991.

[4] GPGPU Concepts. www.gpgpu.org

Website maintained by Sudipta N. Sinha (ssinha@cs.unc.edu)    Last Modified: Feb 15, 2007.

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