An Acceleration Method Using CUDA based on ORB-SLAM2

摘要

In order to solve the problem of poor real-time performance and low position accuracy when mobile robots apply the technology of simultaneous localization and mapping, this paper proposed an improved algorithm using CUDA parallel computing to do the ORB feature extraction and matching portion to reduce the running time of the algorithm based on open source ORB - SLAM2 visual SLAM algorithm. After that.,testing the algorithm with public stereo datasets by doing some comparative experiments using the laptop and camera. the experiment result shows that the proposed method by this paper can greatly reduce the time of extracting feature points, calculating feature descriptors and image matching, and also improve the accuracy of localization. Therefore, the improved algorithm can improve the operation efficiency of the algorithm and the robustness of mobile robot SLAM.