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simondlevy / BreezySLAM

Simple, efficient, open-source package for Simultaneous Localization and Mapping
GNU Lesser General Public License v3.0
758 stars 251 forks source link

Raspberry Pi ARM V6 #1

Open robvoi opened 9 years ago

robvoi commented 9 years ago

Hi,

do you think there is a chance thy python SLAM runs on a raspberry pi?

Robert

gunthercox commented 9 years ago

I am also interested in this. I would be willing to test this but I'm not sure what hardware is required, aside from the Raspberry Pi.

@robvoi Any suggestions?

simondlevy commented 9 years ago

Pi is too slow for real-time SLAM: http://home.wlu.edu/~levys/scanrates.png I recommend spending another $30 and to get an ODROID U-3.

Of course, you'll also need a Lidar unit. I used the Hokuyo URG-04LX ($1150), but you could also buy a Neato XV-21 for $320, or just its RPLidar unit for $400. Another BreezySLAM user reports good results with the RPLidar.

robvoi commented 9 years ago

Thanks for the feedback. I have a RP-Lidar. So this point is set.

Two more questions:

  1. May it be possible to run the python SLAM with a lower update rate (like 1Hz) on a Pi. Just as test.
  2. What do you think about the Raspberry Pi 2 to run SLAM?
simondlevy commented 9 years ago
  1. No, you'll likely get aliasing, unless the vehicle is moving very slowly.
  2. The Pi2 has a quad-core ARM-7 processor, so you should get significant speedup, but I haven't tested it.