E3S Web Conf.
Volume 229, 2021The 3rd International Conference of Computer Science and Renewable Energies (ICCSRE’2020)
|Number of page(s)||7|
|Published online||25 January 2021|
ORB-SLAM accelerated on heterogeneous parallel architectures
Laboratory of Systems Analysis, Information Processing and Industrial Management, Higher School of Technology of Sale, Mohamed V University of Rabat, Morocco
2 Laboratory of Systems Engineering and Information Technology, National School of Applied Sciences, Ibn Zohr University of Agadir, Morocco
* Ayoub Mamri: firstname.lastname@example.org
SLAM algorithm permits the robot to cartography the desired environment while positioning it in space. It is a more efficient system and more accredited by autonomous vehicle navigation and robotic application in the ongoing research. Except it did not adopt any complete end-to-end hardware implementation yet. Our work aims to a hardware/software optimization of an expensive computational time functional block of monocular ORB-SLAM2. Through this, we attempt to implement the proposed optimization in FPGA-based heterogeneous embedded architecture that shows attractive results. Toward this, we adopt a comparative study with other heterogeneous architecture including powerful embedded GPGPU (NVIDIA Tegra TX1) and high-end GPU (NVIDIA GeForce 920MX). The implementation is achieved using high-level synthesis-based OpenCL for FPGA and CUDA for NVIDIA targeted boards.
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.