High-Performance Feature Extraction for GPU -Accelerated ORB-SLAMx
Filippo Muzzini, Nicola Capodieci, Roberto Cavicchioli, Benjamin Rouxel · 2024
In the autonomous vehicles field, localization is a crucial aspect. While the ORB-SLAM algorithm is a recognized solution for these tasks, it poses challenges due to its computational intensity. Although accelerated implementation exists, a bottleneck persists in the Point Filtering phase which relies on the Distribute Octree algorithm that is not suitable for GPU processing. In this paper, we introduce a novel GPU-suitable algorithm designed to enhance the Point Filtering step, surpassing Distribute Octree. We conducted a comprehensive comparison with state-of-the-art CPU and GPU implementations, considering both computational time and trajectory accuracy. Our experimental results, demonstrate significant speed-ups up to 3x compared to previous contributions.