Improving the Performance of Local Bundle Adjustment for Visual-Inertial SLAM with Efficient Use of GPU Resources
Shishir Gopinath,Karthik Dantu,Steven Y. Ko,Shishir Gopinath,Karthik Dantu,Steven Y. Ko
In this paper, we present our approach to efficiently leveraging GPU resources to improve the performance of local bundle adjustment for visual-inertial SLAM. We observe that for local bundle adjustment (i) the Schur complement method, a technique often used to speed up bundle adjustment, has the largest overhead when solving for the parameter update, and (ii) the workload consists of operations o...
