Graph-based SLAM embedded implementation on low-cost architectures: A practical approach
Graph-based SLAM embedded implementation on low-cost architectures: A practical approach
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低成本架构上基于图的 SLAM 嵌入式实现：一种实用方法
DOI：
10.1109/icra.2015.7139838
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
S. Bouaziz
中科院分区：
文献类型：
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作者：
Abdelhamid Dine;A. Elouardi;B. Vincke;S. Bouaziz
基于图的SLAM（同时定位和建图）方法使用图来表示和解决SLAM问题。 SLAM 允许构建未知环境的地图，并同时在该地图上定位机器人。本文提出了基于 3D 图的 SLAM 方法的时间分析。我们还提出了一种在 OMAP 嵌入式架构上的有效实现，这是一个广泛使用的开放多媒体应用平台。我们提供优化的数据结构和高效的内存访问管理来解决与算法相关的非线性最小二乘问题。该算法利用Schur补码来减少执行时间。我们将提出此任务的优化实现。我们还利用多核架构来并行化算法。为了评估我们的实现，我们将计算性能与众所周知的框架 g2o 进行比较。这项工作旨在展示优化数据结构和多线程如何在专用于嵌入式应用程序的低成本架构上显着减少基于图的 SLAM 的执行时间。
The graph-based SLAM (Simultaneous Localization and Mapping) method uses a graph to represent and solve the SLAM problem. The SLAM allows building a map of an unknown environment and simultaneously localizing the robot on this map. This paper presents a temporal analysis of the 3D graph-based SLAM method. We also propose an efficient implementation, on an OMAP embedded architecture, which is a widely used open multimedia applications platform. We provide an optimized data structure and an efficient memory access management to solve the nonlinear least squares problem related to the algorithm. The algorithm takes advantage of the Schur complement to reduce the execution time. We will present an optimized implementation of this task. We also take advantage of the multi-core architecture to parallelize the algorithm. To evaluate our implementation, we will compare the computational performances to the well known framework g2o. This work aims to demonstrate how optimizing data structure and multi-threading can decrease significantly the execution time of the graph-based SLAM on a low-cost architecture dedicated to embedded applications.