Visual Inertial SLAM System Based on Embedded Parallel Processing
Authors
Jianyue Zhang, Ge Li, Xuehe Zhang
Corresponding Author
Jianyue Zhang
Available Online May 2018.
- DOI
- 10.2991/amcce-18.2018.55How to use a DOI?
- Keywords
- Visual Inertial, Parallel Processing, Nonlinear Optimization
- Abstract
Based on the embedded computing platform, we propose a visual inertial fusion SLAM system. The software algorithm combines the matching of monocular visual feature recognition and IMU measurement pre-integration algorithms. And the back-end uses tightly-integrated nonlinear optimization algorithms to process data. The hardware uses NVIDIA's Jetson TX1 parallel processing computing platform and low-cost sensors to retrieve data. The robot uses the open source robot operating system ROS as the operating system and the upper computer uses the UBUNUT system. Based on the embedded parallel processing, visual inertial SLAM system has the characteristics of low cost and good stability.
- Copyright
- © 2018, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Jianyue Zhang AU - Ge Li AU - Xuehe Zhang PY - 2018/05 DA - 2018/05 TI - Visual Inertial SLAM System Based on Embedded Parallel Processing BT - Proceedings of the 2018 3rd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2018) PB - Atlantis Press SP - 317 EP - 323 SN - 2352-5401 UR - https://doi.org/10.2991/amcce-18.2018.55 DO - 10.2991/amcce-18.2018.55 ID - Zhang2018/05 ER -