Preprint Open access
VkVIO: Cross-platform GPU Acceleration for Visual-Inertial Odometry with Vulkan
Perception in robotics and XR fundamentally relies on good state estimation. Visual-inertial odometry (VIO) and Simultaneous Localization and Mapping (VI-SLAM) are proven ways of achieving this goal in a cost-effective and accurate manner. Efficiency in these systems allows for smaller, cooler, and lighter devices. GPU …