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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system
https://arxiv.org/abs/2106.11857
GNU General Public License v3.0
450 stars 92 forks source link

Raspberry pi4 #14

Closed poudyalbot closed 2 years ago

poudyalbot commented 2 years ago

Res sir, Will it be possible to run at 30fps in raspberry pi4 using Ros for quadrotor state estimation. Thank you

oseiskar commented 2 years ago

This codebase will run at max 20 FPS and then it would consume almost all the power in the Raspberry Pi 4 so I would not recommend using it in production for that purpose. But our commercial SDK can do that when combined with a VPU like Intel Movidius or Nvidia Jetson Nano (OpenVX).

poudyalbot commented 2 years ago

If I am not bothering you that much than could you explain how many fps or hz does stereo hybvio run in jetson nano using cuda/openvx. Thank you

oseiskar commented 2 years ago

Hello. This codebase does not support CUDA or OpenVX acceleration. However, if such support would be added (like we have done in the commercial Spectacular AI SDK), the method could run at more than 30 FPS (and the VIO module could potentially run at 60 FPS or higher, depending on the parameters).

poudyalbot commented 2 years ago

Thank you