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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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How to use GPU computation for SLAM2 #848

Open ujur007 opened 4 years ago

ujur007 commented 4 years ago

Recently I am doing a project where I am using a GPU and want to run the ORB-SLAM2 on GPU.

Any idea which files/functions should be computed fast on GPU? I could modify the required code and check how much performance gets improved/

Any idea?

AlejandroSilvestri commented 4 years ago

Some people did it. https://github.com/search?q=orb-slam2+gpu

A few years ago yunchih got it running on a Jetson TX1 using CUDA.

The only part he ported to GPU were FAST and oriented BRIEF. OpenCV already has FAST on GPU. The only algorithm re-written was oriented BRIEF.