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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 7
1973-1978

Research on high speed calculation method of online bundle adjustment

Xie Shuangyi1
Sun Ruixin1
Guo Xueliang2
Chai Zhilei1
1. School of Artificial Intelligence & Computer Science, Jiangnan University, Wuxi Jiangsu 214122, China
2. UISEE(Shanghai)Automotive Technologies Ltd. , Shanghai 201807, China
DOI: 10.19734/j.issn.1001-3695.2021.12.0674

Abstract

The bundle adjustment(BA) is a key technology for the back-end optimization of simultaneous positioning and map construction(SLAM). Using BA online can meet real-time requirements, which is a key factor in applying it to real-time systems such as autonomous driving vehicles. This paper firstly analyzed the characteristics of SLAM data in real scene and proposed a method using sliding window to reduce the calculation scale. Then it featured the parallelism of the algorithm by analyzing the properties of sparse matrices in local BA. Finally, it implemented and accelerated the algorithm based on the embedded GPU. Applied and tested into a vehicle-mounted SLAM system in a real scene, the experimental results show that it has 4.8 times higher processing performance than the CPU on the same platform on average on the AGX Xavier with embedded GPU for 720P images from road scenes. It can also handle position, pose and map data at 15 fps, which meets the real-time requirements of the vehicle-mounted system.

Foundation Support

国家自然科学基金资助项目(61972180)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.12.0674
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 7
Section: Algorithm Research & Explore
Pages: 1973-1978
Serial Number: 1001-3695(2022)07-008-1973-06

Publish History

[2022-02-23] Accepted Paper
[2022-07-05] Printed Article

Cite This Article

谢双镱, 孙瑞鑫, 郭雪亮, 等. 在线光束平差法的高速计算方法研究 [J]. 计算机应用研究, 2022, 39 (7): 1973-1978. (Xie Shuangyi, Sun Ruixin, Guo Xueliang, et al. Research on high speed calculation method of online bundle adjustment [J]. Application Research of Computers, 2022, 39 (7): 1973-1978. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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