Publikation
Accelerated DNA-SLAM for RGB-D images
Mina Ameli; Oliver Wasenmüller; Reza Soheili; Jamshid Shanbehzadeh; Didier Stricker
In: ACM International Conference on Image and Graphics Processing (ICIGP) |. ACM International Conference on Image and Graphics Processing (ICIGP-2018), February 24-26, Hong Kong, China, ISBN 978-1-4503-6367-9, ACM Digital Library, 2018.
Zusammenfassung
In the highly active research field of Simultaneous Localization
And Mapping (SLAM), RGB-D images have been a major interest
to use. Real-time SLAM for RGB-D images is of great importance
since dense methods using all the depth and intensity values
showed superior performance in the past. Due to development of
GPU and CPU technologies, the real-time implementation of the
mentioned algorithms is no longer an impassable problem. In this
paper, we present an acceleration approach for the DNA-SLAM
algorithm. We argue some possible challenges while converting the
CPU implemented algorithm to the GPU. Finally, runtime
evaluation and improvements are shown on the public CoRBS
dataset.