JacobiGPU: GPU-Accelerated Numerical Differentiation for Loop Closure in Visual SLAM.
Dhruv KumarShishir GopinathKarthik DantuSteven Y. KoPublished in: ICRA (2024)
Keyphrases
- gpu accelerated
- visual slam
- real time
- simultaneous localization and mapping
- loop closure
- bundle adjustment
- dynamic environments
- monocular camera
- mobile robot
- structure from motion
- camera motion
- finite element
- kalman filter
- particle filter
- error accumulation
- indoor environments
- mobile robotics
- outdoor environments
- multi view
- data association
- robot navigation
- real environment
- vision system
- sequence alignment
- data fusion