jetson-slam's Introduction

Jetson-SLAM

More updates coming soon

To be done: 1. Update exec folder

The frontend of Jetson-SLAM will be released as a separate repository as-well.

Authors: Ashish Kumar

This repository contains Jetson-SLAM with FULL-BA back-end Jetson-SLAM is a GPU-thrusted real-time SLAM library for Monocular, Stereo and RGB-D cameras. It can run very high speeds beyond 500FPS on RTX-2070 and Beyond 90FPS on Jetson-NX @320x240 resolution. Please see the Jetson-SLAM Paper for rigorous results over different resolutions, GPUs and comparison with existing VO/VIO/SLAM pipelines.

Jetson-SLAM can run alongside Deep Neural Networks. It is fully behchmarked with VGG

Video

Main Highlight

1. Main Results

Datasets

Results on KITTI Benchmark

Results on EuRoC Benchmark

Results on KAIST-VIO Benchmark

Performance with scaled versions of VGG-16 Co-existing on Jetson-NX

Build Instructions

**Step-1**
 Install the dependencies given below:

1. OpenCV 3
2. Eigen3
3. CUDA
4. Pangolin


**Step-2**
 Run build.sh

Run Instructions

Go to execs and run Jetson-SLAM on following choices:
1. Run stereo_kitti for KITTI-Benchmark
2. Run stereo_euroc for EuRoC Benchmark
3. Run stereo_kaistvio for KAIST-VIO Benchmark
4. Run stereo_live for live images from a Stereo-Rig. Please customize the "stereo_live_config.yaml" file for your stereo rig.

License

Jetson-SLAM is released under a [GPLv3 license].

Bibtex citation:

 @article{Jetson-SLAM,
   title={{High-Speed Stereo Visual-{SLAM} For Low-Powered Computing Devices},
   author={Kumar, Ashish and Park, Jaesik and Behera, Laxmidhar},
   year={2023},
  }

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