Drone vision slam method based on GPU acceleration

摘要

Problem to be solved: to provide a drone vision Slam (simple localization and mapping) method reducing the volume, power consumption and calculation time of the on-board processing system based on GPU acceleration.Drone vision slam methodCamera image information is read and preprocessed.Feature extraction and feature matching of camera imagesIncluding pose estimation by ICP algorithmPerform a front-end task that estimates the pose by the feature point methodBackend optimization based on graph optimizationPerform backend optimization to optimize postureBag of word loop back detectionPose and optimize the attitude graph.Feature extraction and feature matching of camera image are the following steps.Diagram