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what techniques might improve vslam performance?

asked 2011-03-30 03:14:10 -0500

jcurtis_swri gravatar image

updated 2011-08-08 15:55:48 -0500

tfoote gravatar image

I have implemented the vslam_system and am in the process of testing it with some of my own data sets. I was wondering if there are any plans to improve the computational speed in the future. At the moment the computational performance is very acceptable in the beginning of a run and typically taking about 12.51 ms between frames, but eventually (after approximately 100 frames), it slows down to upwards of 890 ms between frames.

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Would you mind re-titling this as a question? I'm hoping to set a trend to make browsing and answering questions easier. Perhaps something like "Is there a way to improve VSLAM performance?
Asomerville gravatar image Asomerville  ( 2011-05-12 09:18:07 -0500 )edit

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answered 2011-05-12 09:11:41 -0500

dimatura gravatar image

How is the memory footprint? A while ago I found a significant memory leak (https://code.ros.org/trac/ros-pkg/ticket/4753); it might be related.

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Asked: 2011-03-30 03:14:10 -0500

Seen: 300 times

Last updated: Aug 08 '11