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SIFT Based Monocular SLAM with GPU Accelerated

  • Tonghui Wang
  • Guoyun Lv
  • Shikai Wang
  • Haili Li
  • Baicen Lu
Conference paper
Part of the Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering book series (LNICST, volume 237)

Abstract

With the rapid development of computer vision technology, 3D Reconstruction based on monocular SLAM (Simultaneous Localization and Mapping) has got more and more attention for its simple requirements, low cost, easy to implement, convenient to carry. ORB-SLAM is a kind of monocular SLAM method based on feature point. ORB feature can meet the real-time requirements for SLAM, but it does not have scale invariance. In this paper, we proposed a monocular SIFT-SLAM, in which a SIFT (Scale Invariant Feature Transform) algorithm based on GPU is used to replace the ORB algorithm, to implement 3D Reconstruction. We show the experiment result of SIFT-SLAM in this paper, which gets some improvement.

Keywords

SLAM Monocular SIFT GPU 3D Reconstruction 

Notes

Acknowledgments

This work is sponsored by the Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University (No. Z2017139).

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Copyright information

© ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2018

Authors and Affiliations

  • Tonghui Wang
    • 1
  • Guoyun Lv
    • 1
  • Shikai Wang
    • 1
  • Haili Li
    • 1
  • Baicen Lu
    • 1
  1. 1.School of Electronics and InformationNorthwestern Polytechnical UniversityXi‘anChina

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