Raspberry Pi 2 or Odroid U3 enough performance to run ROS and AR-Tag Pose Estimation?

asked 2015-03-17 13:16:31 -0500

MVR
41 ●2 ●2 ●7

updated 2015-03-18 13:02:26 -0500

Hello experts,

the title says it all. I want to implement a Pose Estimation of AR-Tags on a Raspberry Pi 2 / Odroid U3 or similar board. But I have no clue, if these boards have enough performance to deliver a "smooth" estimation... A visual output is not required or can be attained through a ssh access from my pc (to save performance).

Would be nice if someone could share his experiences with a Raspberry Pi 2 / Odroid U3 (or similar board) and ROS...

Thanks for your help!

Greetings Johannes

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answered 2015-03-18 14:21:24 -0500

Alexandr Buyval
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I have not got Ondroid U3 or RPi2, however I have run this AR-tag node with usb_cam node on Beagle Bone Black board.

I got the satisfactory results. Messages with marker's pose was published each 100 ms (10 Hz) for 320x240 resolution. For resolition 640x480 I have got only 2-3 Hz. CPU loading was about 60% for 320x240 and about 90% for 640x480. I think that Ondroid U3 and RPi2 are more powerful, so you can use them for marker detection.

Best Regards, Alex

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good news :) if it works on a single core, the RPI2 or Odroid U3 quad cores should have enough power (even for 640x480 (or higher)). Thanks for your help!

MVR ( 2015-03-19 03:56:42 -0500 )edit

It is truth, if the AR-tag detector supports several cores.

Alexandr Buyval ( 2015-03-19 04:44:47 -0500 )edit

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answered 2015-03-18 00:00:43 -0500

Mr. CEO
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I have only gotten simple programs to work on the rpi2 all of the computation is done on my workstation.

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Thanks for your answer. So computer vision (with ar-tags) isn't possible with a rpi2? Do you also use other boards like cubieborads oder odroids?

MVR ( 2015-03-18 06:13:34 -0500 )edit

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answered 2015-03-18 13:10:43 -0500

michaelyuan1
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Even though the raspberry pi might not be powerful enough to run the vision stuff on-board, it should be fairly easy to run it from the workstation. I was able to get the kinect kind-of working on the raspberry pi and publishing data.

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Thanks for your hint. Your solution is my plan b. But I want to use the camera and stuff on my mobile robot. Therefore I want to avoid a soultion including a workstation.

MVR ( 2015-03-18 13:34:51 -0500 )edit

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Raspberry Pi 2 or Odroid U3 enough performance to run ROS and AR-Tag Pose Estimation?

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