Implementation of Visual Odometry on Jetson Nano

摘要

This paper presents the implementation of ORB-SLAM3 for visual odometry on a low-power ARM-based system, specifically the Jetson Nano, to track a robot's movement using RGB-D cameras. Key challenges addressed include the selection of compatible software libraries, camera calibration, and system optimization. The ORB-SLAM3 algorithm was adapted for the ARM architecture and tested using both the EuRoC dataset and real-world scenarios involving a mobile robot. The testing demonstrated that ORB-SLAM3 provides accurate localization, with errors in path estimation ranging from 3 to 11 cm when using the EuRoC dataset. Real-world tests on a mobile robot revealed discrepancies primarily due to encoder drift and environmental factors such as lighting and texture. The paper discusses strategies for mitigating these errors, including enhanced calibration and the potential use of encoder data for tracking when camera performance falters. Future improvements focus on refining the calibration process, adding trajectory correction mechanisms, and integrating visual odometry data more effectively into broader systems.