Related papers: TurboMap: GPU-Accelerated Local Mapping for Visual…
In this paper we present an optimized parallel implementation of a flexible MAP decoder for synchronization error correcting codes, supporting a very wide range of code sizes and channel conditions. On mid-range GPUs we demonstrate decoding…
Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…
In this paper, we explore the limits of graphics processors (GPUs) for general purpose parallel computing by studying problems that require highly irregular data access patterns: parallel graph algorithms for list ranking and connected…
We present Graphite, a GPU-accelerated nonlinear least squares graph optimization framework. It provides a CUDA C++ interface to enable the sharing of code between a real-time application, such as a SLAM system, and its optimization tasks.…
Recent work in visual SLAM has shown the effectiveness of using deep network backbones. Despite excellent accuracy, however, such approaches are often expensive to run or do not generalize well zero-shot. Their runtime can also fluctuate…
3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
Subgraph matching has garnered increasing attention for its diverse real-world applications. Given the dynamic nature of real-world graphs, addressing evolving scenarios without incurring prohibitive overheads has been a focus of research.…
Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…
GPUs exploit a high degree of thread-level parallelism to hide long-latency stalls. Due to the heterogeneous compute requirements of different applications, there is a growing need to share the GPU across multiple applications in…
Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this…
This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One…
In this paper, we propose a GPU-efficient subgraph isomorphism algorithm using the Gunrock graph analytic framework, GSM (Gunrock Subgraph Matching), to compute graph matching on GPUs. In contrast to previous approaches on the CPU which are…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Indoor localization has many applications, such as commercial Location Based Services (LBS), robotic navigation, and assistive navigation for the blind. This paper formulates the indoor localization problem into a multimedia retrieving…