HATSDF SLAM - Hardware-accelerated TSDF SLAM for Reconfigurable SoCs.
Marc EisoldtMarcel FlottmannJulian GaalPascal BuschermöhleSteffen HinderinkMalte HillmannAdrian NitschmannPatrick HoffmannThomas WiemannMario PorrmannPublished in: ECMR (2021)
Keyphrases
- simultaneous localization and mapping
- mobile robot
- monocular slam
- visual slam
- object and scene recognition
- low cost
- mobile robotics
- dynamic environments
- data association
- general purpose
- particle filter
- visual odometry
- loop closing
- three dimensional
- hardware implementation
- systolic array
- camera tracking
- monocular camera
- database
- kalman filter
- information systems
- genetic algorithm
- real world