Products & Solutions

Accelerated Application – Open VSLAM

Supported by AMD for KR260, the algorithm of Open VSLAM (Vision based Simultaneous Localization And Mapping) offers the possibility of purely vision-based 3D mapping.

With the help of cameras, in our case two, the own location on a map is recognized, a 3D map is created, and the circle is closed by loop closure. Tools like GPS, gyro or IMU are neither needed for map creation nor for depth image.

The most computationally
intensive steps are

The processing steps of OpenVSLAM are displayed schematically in the graphic (OpenVSLAM in short blocks). All steps from the input image to the map generation including loop detection and localization are shown.

Depth estimation (with color space conversion, rectification and the actual matching)

Keypoint detection (here an ORB – oriented FAST and rotated BRIEF) based on

— BRIEF (Binary Robust Independent Elementary Features): Rotation invariant
— FAST (Features from Accelerated Segment Test): Orientated in terms of scale

Open VSLAM in short blocks

KeyFrame*
Bundle Adjustments**

ROS graph, based on initial
steps of FPGA acceleration

Euroc is the input-frame, which we take before the keypoint detection to calculate the depth image, which will be used later in triangulation of 3D points. (See also Resources / Downloads: Paper Open VSLAM in Short Blocks)

Resources / Downloads

Paper Open VSLAM in Short Blocks

Kria KR260 Robotics Starter Kit

The final result of mapping and tracking is an authoritative map. PLC2 has now accelerated first crucial parts, by using the KRS (Kria Robotic Stack).

Vitis Vision Library on Github

Examples can be found in the Vitis Vision Library (formerly: xfOpenCV), here already exist methods for depth estimation implemented in HLS (High Level Synthesis) and can be used for further designs:

Kria Robotics Stack (KRS)

Paper Scale and Drift Corrections

For scale and drift corrections within the trajectory calculation, certain keypoints are detected and described by ORB: ieeexplore

How can we help?

Contact

Call PLC2

+49 7642 92118 0

Send an e-mail

design@plc2.de

Accelerated Application – Open VSLAM

The most computationally intensive steps are

The most computationally
intensive steps are