orb slam with jevois

Question

Hi,

I am using jevois with my Beaglebone blue and done some stuff like object tracking and aruco detection. Its great.

Now i want to use jevois for 3D map generation and localization such as Orb-Slam. Can you please guide me the approach?

My doubt is-

As jevois is capable to provide the Surf features and coordinate infomation, is it necessary to use another computer such as raspberry pi with jevois for complete orb-slam? or it is possible to have orb-slam fully working on jevois itself as a module only?

Please tell me all the alternative possibilities for orbslam to get done with jevois.

Thanks.

Answer 1

The easiest is to compute your SURF keypoints using OpenCV, then send the keypoints and descriptors in text format using sendSerial(). As long as you send them through USB-over-serial, you will get plenty of bandwidth (480 Mbps/s) and the text format, though not very compact, should be ok.

Or, indeed, you could try to implement the whole ORB SLAM on JeVois. Don't hesitate if you have questions about this as you proceed.

Comments

Hi, Can you please guide me how to build orbslam for jevois? can i directly build that? i have tested orbslam2 on jetson tx2.