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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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update the algorithm #155

Open qianwenjun0801 opened 8 years ago

qianwenjun0801 commented 8 years ago

The speed of the matching and bundle adjustment are slow and if we use it in a moving robot, it can't work real time. And there are some new method to update such as :knn ,prosaic and conjugate gradient... anyone has new good idea or some code to share?

AlejandroSilvestri commented 7 years ago

Well, ORB-SLAM itself is a compound of the best methods available, and very difficult to improve.

You mentioned CG: ORB-SLAM can be speeded up if migrated to a GPGPU. That's a lot of work.