ORB-SLAM accelerated on heterogeneous parallel architectures

ORB-SLAM accelerated on heterogeneous parallel architectures

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SLAM algorithm permits the robot to cartography the desired environment while positioning it in space.It is a more efficient system and more accredited by jumbo glory double wall 2li bardak 250 ml autonomous vehicle navigation and robotic application in the ongoing research.Except it did not adopt any complete end-to-end hardware implementation yet.Our work aims to a hardware/software optimization of an expensive computational time functional block of monocular ORB-SLAM2.

Through this, we attempt to implement the proposed optimization in FPGA-based heterogeneous embedded architecture that shows attractive results.Toward this, we adopt a comparative study with other heterogeneous architecture including powerful embedded GPGPU (NVIDIA Tegra TX1) and high-end GPU (NVIDIA GeForce 920MX).The implementation is achieved rachel bati using high-level synthesis-based OpenCL for FPGA and CUDA for NVIDIA targeted boards.