# cuda-accelerated-ORB-SLAM2

**Repository Path**: maxibooksiyi/cuda-accelerated-ORB-SLAM2

## Basic Information

- **Project Name**: cuda-accelerated-ORB-SLAM2
- **Description**: CUDA Accelerated ORB-SLAM2 
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-08-09
- **Last Updated**: 2024-08-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# CUDA Accelerated ORB-SLAM2

This is a CUDA accelerated version of the [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2). OpenCV CUDA library, custom CUDA kernels and pipeline execution are used to accelerate the bottleneck functions.

The algorithm is tested with the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) and the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php). The test results show that a ***2x end-to-end speedup*** is achieved.

![End2end](./plot/plot_end2end.png)

# Acknowledgment
This is a course project of CSC2231 at University of Toronto supervised by Professor Nandita Vijaykumar.