HETEROGENEOUS MULTI-THREADED VISUAL ODOMETRY IN AUTONOMOUS DRIVING

A system and method for performing visual odometry is disclosed. In aspects, the system implements methods to generate an image pyramid based on an input image received. A refined pose prior information representing a location and orientation of the autonomous vehicle can be generated based on one or more images of the image pyramid. One or more seed points can be selected from the one or more images of the image pyramid. One or more refined seed representing the one or more seed points with added depth values can be generated. One or more scene points can be generated based on the one or more refined seed points. A point cloud can be generated based on the one or more scene points.