JacobiGPU: GPU-Accelerated Numerical Differentiation for Loop Closure in Visual SLAM
Dhruv Kumar,Shishir Gopinath,Karthik Dantu,Steven Y. Ko,Dhruv Kumar,Shishir Gopinath,Karthik Dantu,Steven Y. Ko
In this paper, we introduce JacobiGPU, a technique that uses a GPU to improve the efficiency of loop closure in visual-inertial SLAM systems, particularly when approximating Jacobians using the Finite Difference Method (FDM). Traditional FDM techniques often face computational overhead due to repeated perturbations in pose graphs. We address this overhead with a novel methodology, leveraging strat...
