학술논문
ORB-SLAM with Near-infrared images and Optical Flow data
Document Type
Conference
Source
2021 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW) ICCVW Computer Vision Workshops (ICCVW), 2021 IEEE/CVF International Conference on. :1799-1804 Oct, 2021
Subject
Language
ISSN
2473-9944
Abstract
The algorithms designed to solve the Simultaneous Localization And Mapping (SLAM) problem have to be often executed on embedded platforms in order to become part of complex robotics systems. Despite the continuous growth of their computational capabilities, the embedded devices still have considerable limitations, especially in terms of memory. This paper presents a modified version of the well known ORB-SLAM algorithm which improves its performance thanks to the use of Hardware-generated Optical Flow (HW-OF). The ORB-SLAM has been modified in order to run into the Stereo-cam embedded system by STMi-croelectronics. The Stereo-cam includes the VD56G3 sensor, able to provide Near Infrared (NIR) images and OF data computed by a hardware accelerator. The experiments showed an improvement of the ORB-SLAM performances in terms of memory consumption and frame rate.