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2011-08-08 15:56:29 -0600 marked best answer what techniques might improve vslam performance?

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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2011-03-30 03:14:10 -0600 asked a question what techniques might improve vslam performance?

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.