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MaverickPeter / MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
MIT License
280 stars 19 forks source link

The minimum computer hardware configuration #20

Closed cxmzdd closed 9 months ago

cxmzdd commented 10 months ago

First , thank you very much for opening up this project . I want to follow your project on low computing platforms . what's the suitable cpu and gpu.

MaverickPeter commented 10 months ago

@cxmzdd Thanks for your following. There are two parts in this project. The first one is the onboard computation of mapping, trajectory following, and odometry which I suggest using a Jetson Xavier NX or a better computer to meet the real-time requirements. The other one is the center station which is in charge of global mapping, data association, and global planning, I suggest using a relatively powerful PC. We don't evaluate the minimum requirements, I can only provide a reference that in 3-dog experiments, the PC is equipped with i7-10700 CPU with 32GB memory and RTX 2060 Super GPU. During the experiments, the CPU and GPU load is lower than 75%. Hope this information can help you.

cxmzdd commented 10 months ago

Thanks for your answer. This work has any public paper? I try to find this work's paper for some details. But it fails.

MaverickPeter commented 10 months ago

@cxmzdd This project is a system implementation of our global localization paper: "RING++: Roto-Translation-Invariant Gram for Global Localization on a Sparse Scan Map".